WO2008011989A2 - Procédé et dispositif de calibrage d'une caméra électronique - Google Patents

Procédé et dispositif de calibrage d'une caméra électronique Download PDF

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Publication number
WO2008011989A2
WO2008011989A2 PCT/EP2007/006153 EP2007006153W WO2008011989A2 WO 2008011989 A2 WO2008011989 A2 WO 2008011989A2 EP 2007006153 W EP2007006153 W EP 2007006153W WO 2008011989 A2 WO2008011989 A2 WO 2008011989A2
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WO
WIPO (PCT)
Prior art keywords
camera
calibration
dark
light
calibration piece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2007/006153
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German (de)
English (en)
Other versions
WO2008011989A3 (fr
Inventor
Andreas FLÖTER
Dirk Braun
Marcus Drath
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BST GmbH
Original Assignee
BST International GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BST International GmbH filed Critical BST International GmbH
Priority to EP07785996A priority Critical patent/EP2050282A2/fr
Publication of WO2008011989A2 publication Critical patent/WO2008011989A2/fr
Publication of WO2008011989A3 publication Critical patent/WO2008011989A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N2101/00—Still video cameras

Definitions

  • the invention relates to a method and a device for calibrating an electronic camera or an electronic sensor, in particular a line scan camera.
  • Electronic line scan cameras are used in the industrial sector for, among other things, edge scanning, for example of material webs for web guiding or to measure the width of a material web.
  • the line scan camera is arranged over the material web transversely to the extent of the edge to be measured, whereby inaccuracies in the measurement and in the position determination occur due to the not always exact positioning of the camera and due to a distortion of the optics of the camera.
  • FIG. 3 illustrates a measurement error resulting therefrom, where equal distances A, B, C and D of the real object are imaged as different distances A ', B', C and D 'in the camera.
  • Fig. 4 illustrates this with reference to the point A, which is not visible to the camera.
  • the camera detects the outer edge of the object at A ', while the right outer edge is detected at point B without errors.
  • the projection plane in the camera is usually not aligned exactly parallel to the considered plane. This results in an asymmetry between the considered plane and the projection plane of the camera, so that, as shown in FIG. 5, equal distances a and b of the real object in the camera are represented as distances a 'and b' of different magnitudes. Although this error can be eliminated by a parallel alignment, however, an exact parallel alignment of the camera to the measurement level associated with considerable effort.
  • the object of the invention is to propose a method for calibrating an electronic camera, in particular a line scan camera, by means of which the described measurement errors are compensated and a measurement accuracy is achieved which depends essentially only on the resolution of the camera used.
  • a calibration piece is used with at least two defined planes lying one above the other in the direction of view of the camera, wherein a series of holes whose size and distance from one another are known are formed in the calibration piece.
  • the camera can preclude an incorrect measurement due to shaded edges (FIG. 4) and a distortion due to a lack of parallelism (FIG. 5), at the same time compensating for distortion due to erroneous optics.
  • the measurement accuracy of the camera depends only on the dimensional accuracy of the calibration piece.
  • the pixel numbers with the information value "top" lying on both sides of the vertical viewing line are further assigned a correction value which indicates on the basis of the distance of the parallel planes at the calibration piece and depending on the distance from the vertical viewing line where at the respective pixel number Dark transition on the lower level is to be arranged vertically below the light / dark transition on the upper level, if an oblique viewing angle, a light / dark transition on the lower level is not visible.
  • FIG. 6 is a view of a calibration piece
  • 8 shows a representation for detecting the planes on the calibrating piece
  • FIG. 9 shows the projection resulting from FIG. 8 onto the photosensitive plane or projection plane in the camera
  • FIG. 10 shows a FIG Sectional view of the calibration piece to explain the thickness compensation.
  • Fig. 1, 1 denotes an electronic line-scan camera or a line sensor or a CCD camera with a linienfb 'shaped field of view, which is hereinafter referred to only as a camera.
  • a material web is shown as an example of a workpiece or object to be measured, which may be arranged stationary or moves in the direction of the arrow X.
  • the line-shaped scanning region of the camera extends transversely to the opposite edges K1 and K2 of the material web 2, wherein in the illustrated embodiment a rod-shaped light source 3 is arranged under the material web 2 in order to illuminate the measuring range of the camera.
  • a rod-shaped light source 3 is arranged under the material web 2 in order to illuminate the measuring range of the camera.
  • the illustrated transmitted light method it is also possible to use an incident light method for the measurement and the calibration, in which the light source is arranged above the material web 2 and the measuring area is illuminated from above. With the transmitted light method, the measured object appears dark. The contrast transitions between light and dark values result in the measurement of the edges K1 and K2.
  • the resolution of the camera pixels or pixels of z. B. 0 to 5,000 in a line which are shown in Fig. 1 in the graph of the measurement.
  • the width of the material web 2 can be measured based on the distance of the edges Kl and K2. It is also possible to measure the position of a single edge and use it for web guiding.
  • the arrangement shown can also be used for the center control of a moving material web. Furthermore, it is possible to position a camera over each edge. In such a case, it is necessary to calibrate both cameras using the procedure described below.
  • Fig. 2 shows schematically the beam path between the projection plane P of the camera and the measuring range.
  • the projection plane P there are pixels with numbers 0 through 5,000, for example. Due to the given optics, a certain measuring range is recorded.
  • the Edges of an object in the measuring range are detected by light / dark transitions, whereby a pixel number can be assigned to each light / dark transition.
  • the center of the projection plane is perpendicular above the right end of the calibration piece. This alignment is random and does not need to be followed for the calibration procedure.
  • a calibration of the camera is performed before starting the measurement to compensate for the measurement errors described in the introduction, whereby the position of the camera is no longer changed.
  • Fig. 6 shows an embodiment of an elongated Kalibrier Swisss 4, which is designed for assembly reasons as an angle piece and on the longer leg has a series of holes 5.
  • This calibration piece 4 is arranged in the measuring arrangement in Fig. 1 instead of the material web 2 on the light source 3, so that the row of holes 5 is illuminated from below and the camera can detect the light / dark transitions at the individual holes.
  • Fig. 7 shows in detail the structure of the Kalibrier Sharings, which is shown in Fig. 8 and 10 in a longitudinal section.
  • the calibration piece 4 is preferably made of a dimensionally stable material, such as steel sheet.
  • the thickness of the strip-shaped Kalibrier Anlagens is selected in the order of the thickness of the material to be measured, for example, the material web 2.
  • countersunk holes 5a and 5b are formed, which are alternately introduced from the opposite sides in the calibration piece 4.
  • oblique side flanks 5c result, for example, at an angle of 45 ° to the plane of the calibration piece (FIGS. 8 and 10), so that the camera can recognize the edges of the holes 5 a below even at an oblique viewing angle.
  • the design of the countersink may also have an angle other than 45 °, or steps may be formed in the side flanks 5c of the holes.
  • annular grooves 5d are milled in near the constriction of the holes in order to obtain a defined position of the edges to be measured in a hole region.
  • two levels are defined at different levels, the distance of which is known.
  • the holes 5a, 5b have the same shape and predetermined equal distances from each other.
  • rectangular, oval or other shaped holes may also be formed in the calibrating piece 4. In the case of rectangular holes or openings, only the edges lying transversely to the longitudinal direction of the calibrating piece 4 can be chamfered in accordance with the flanks 5c.
  • the reproduced in Fig. 6 exemplary embodiment of a calibration piece 4 has a series of 26 calibration holes 5a, 5b and holes 4a for attachment to the respective measuring point.
  • the number of calibration holes depends on the size or length of the measuring point and on the requirements of the measuring accuracy. So that exact levels are given to the row of holes, the holes 5a, 5b are formed in a strip-shaped cutout 4b, wherein the strip-shaped milling on the top and bottom exactly parallel planes around the holes 5 a, 5 b are specified.
  • the calibration piece 4 is placed on the same plane in which later the workpiece or the material web 2 is located. You can also choose a plane parallel to it above or below.
  • the calibration piece 4 can cover the entire measuring range or be formed shorter than the measuring range. In the latter case, the calibration is performed in several steps by arranging the calibration piece in different positions over the entire length of the measuring range and carrying out a calibration in each position. The stepwise positioning of the calibration piece 4 over the length of the measuring range can be carried out in any order. Optimum calibration is achieved when the full width of the measurement range is detected by such sub-calibrations and the subregions overlap, i. H. the different positions of the calibration piece are selected overlapping over the length of the measuring range.
  • Calibration is performed using a calculator.
  • the electronic computing device can be implemented on a PC, an industrial controller, a portable small computer or even in the camera or in the sensor itself.
  • the shape and shape of the calibration piece is stored on the computing device.
  • the holes may have different distances from each other and it may also have the holes themselves have a different shape.
  • the described embodiment of a Kalibrier concurss shows only the sake of simplicity identically shaped holes at equal intervals.
  • the calibration piece 4 or its row of holes in the measuring range is scanned by the camera, wherein the detected light / dark transitions are detected and stored.
  • each calibration hole 5a, 5b is detected by the camera in a different angle.
  • Fig. 8 shows the beam path for some calibration holes located at the edge of the field of view of the camera.
  • FIG. 9 shows the projection corresponding to FIG. 8 onto the photosensitive projection plane P in the camera.
  • the light paths reproducing the bright areas are shaded in FIG. 9.
  • the hole 5al illuminated in the transmitted light method in FIG. 8 corresponds to the projection line 5al in FIG. 9.
  • the dark appearing flank 5c 1 of this calibration hole is shown on the projection plane P of the camera as line 5c in FIG. 9 shown.
  • the calibration hole 5b 1 lying at the top of the calibration piece 4 or in the upper level is depicted as a bright projection line 5bl in FIG. 9.
  • the web which is viewed almost perpendicularly by the camera in FIG.
  • flank 5c2 between the adjacent calibration holes 5b 1 and 5a2 appears in the projection on the camera plane as a dark long line 5c2, to which the light line 5a2 of the bottom calibration hole 5a2 followed.
  • the web 5c22 which is viewed at the front in FIG. 8 appears in the projection surface as a short dark line 5c22.
  • the bright areas 5b2 and 5a3 of the upper and lower calibration holes 5b2 and 5a3 in Fig. 9 follow, with the ridge 5c31 appearing as a long dark line on the projection surface in Fig. 9.
  • the projection surface P in FIG. 9 is inclined by an angle of approximately 10 ° with respect to the measuring region corresponding to a horizontal line in order to show that the image of the calibrating piece 4 in the camera can also be fully evaluated if the projection surface is P of the camera in a misalignment of about 10 ° in the vertical plane of the visual beams should be arranged inclined relative to the measuring range.
  • a misalignment of about 10 ° is outside of a malposition occurring in practice, which should be maximum of the order of 5 °. Even if the camera should be arranged obliquely to the plane of the measuring range, thus a high accuracy is achieved despite this poor positioning, as can be seen from the following statements.
  • FIG. 10 In the illustration in FIG.
  • the dark areas 5c between the calibration holes 5a, 5b have different lengths on the projection surface P of the camera. From this it can be seen that the adjacent bright areas reproducing a calibration hole correspond to a calibration hole located at the top or bottom of the calibration piece. In Fig. 8, to the left of the calibration hole 5al on the lower level, and the next hole 5bl to the right thereof, the dark area is short and, in the opposite case, long. As a result, an unambiguous assignment is possible on the basis of the image on the projection surface P of the camera, on a soft level there is a calibration hole.
  • the edges of the calibration piece that can be recognized by the camera appear as light / dark transitions to which a specific pixel number is assigned. Overall, the illustrated calibration holes are evaluated such that even-numbered holes lie on one level and odd-numbered holes on the other level, with the pixels consecutively numbered.
  • the computing device is used to search for a calibration hole in which the width ratio of the two adjacent dark regions, that is to say the opposite web regions or flanks 5 c at a calibration hole, is the minimum of the ratios of the remaining calibration holes depicted.
  • Each individual calibration hole is evaluated so that a partial calibration is performed on a single calibration hole. If the hole found with the minimum width ratio of the land areas is not at the outer edge of the gauge, it will be determined to be the hole closest to the position perpendicular below the camera. This determination is possible by the numbers or numbers assigned to the pixels.
  • the absolute positions are determined.
  • such cameras or sensors generally work internally with numerical values which correspond to a consecutive numbering of the photosensitive cells or pixels.
  • a function or table is created that converts the pixel value into a unit of measure appropriate to the application.
  • a line is examined, which cuts all holes of the calibration piece uniformly. By a correspondingly selected shape of the holes, z. B. rectangular, it is achieved that this line is easily found in the practical implementation.
  • the first point of a second partial calibration can be calculated as a pixel value with the already existing last pixel value from a preceding partial calibration. be classified in an absolute position so that all sub-areas grooved together.
  • the result of calibration of the absolute positions is a calculation rule f] (pixel), the result of which is an absolute position.
  • f] pixel
  • a thickness compensation takes place in that again individual holes are considered, but only those which are in the other than the previously considered plane for the absolute position. For example, in FIG. 10, if the points A and B were used for the absolute positions, the thickness compensation now uses the point C which is in the upper level. With respect to the lower level A-B, the point C appears to be at the lower-level position C. Since the geometry of the calibration piece is known, it can be determined by the computing means by what distance the point C is removed from the point C or its pixel value, because the point C is assumed to be on the other side than that by A and B. certain level is located.
  • height h and the distance C-C are a linear relationship. If a real object or a workpiece to be measured has the known height or thickness measurement H, then this height H has the same relation to the height h at the calibration piece or to the distance of the points C and C.
  • the distance C-C in the plane A-B in relation to the height h corresponds to the ratio of the height h at the calibration piece to the height or thickness H of the real object.
  • the result of the calibration of the thickness compensation is a calculation rule f 2 (pixels, H / h), the result of which is a distance. This results in a simple computational relationship for the calibration.
  • the ratio h determined at the calibration piece on the basis of predetermined geometric dimensions to the distance CC per hole or partial calibration is used to compensate for the viewing error A 'in FIG. 4 instead of A by the thickness H of the object to be measured.
  • the thickness dimension or height h can be determined during a partial calibration. Accordingly, a table or function can be created by joining the partial calibrations of the individual calibration holes. This specifies at which point of the measuring range a viewing error A 'instead of A in FIG. 4 is to be compensated on the basis of the known ratio H / h.
  • the known ratio H / h allows the compensation of the measurement error A 'in Fig. 4 at each point of the measuring range.
  • the distance C-C is determined in each sub-area or on each second hole 5b, so that the height offset over the entire measuring range is obtained.
  • the areas between the holes 5b used for the measurement are supplemented by interpolation into a continuous line or table.
  • the detection of the height h or the distance of the parallel planes on the calibration piece serves as the equivalent for the measurement error due to edge shading when obliquely viewing an edge.
  • the measurement of a width or length takes place on a workpiece or on a web 2 by determining the absolute position of two material edges K1 and K2 or markings, from which the difference is then calculated.
  • the absolute values for one point its height relative to the zero plane and the corresponding pixel value in the camera are determined.
  • the height of the point is known by a preceding thickness measurement of the object or by a predetermined relative movement of the workpiece relative to the zero plane. For rectangular workpieces it can be concluded from the position to the right or left of the vertical, whether it is an upper or lower edge.
  • H insert the distance of the measuring point to the zero level of the calibration.
  • H can be positive or negative.
  • An assignment of the pixels in the camera to the predetermined points and planes of the calibration piece is carried out in such a way that it is predetermined over the entire measuring range at which points which compensation or correction is required. This is done by the two functions or tables.
  • the calibration piece and also a workpiece to be measured can be detected by the cameras as if the camera were taking a measurement vertically above each individual point of the measuring range, although outside the vertical viewing line an oblique viewing of the edges of the calibration piece or of the workpiece he follows.
  • the workpiece After the calibration of the camera, the workpiece is positioned in the measuring range so that the workpiece is parallel to the zero level of the calibration. The measured edges of the workpiece are thereby arranged exactly perpendicular to the line that receives the camera for measurement. If the workpiece should be displaced relative to the zero plane of the calibration, then a means is used by which the amount of offset can be accurately determined.
  • the method described can be used in a variety of ways to detect the outer edges or significant marks of products or workpieces as contrast transitions, wherein the workpiece is illuminated by a light source in incident or transmitted light method. It is also possible to use a plurality of cameras, wherein the measuring range of each camera is calibrated in the manner described.
  • width dimensions of material webs 2 can be accurately detected by the described method, for example by providing line scan cameras arranged transversely to one another for scanning the workpiece.
  • more than two levels can also be predetermined by steps or steps at the openings or holes.
  • the described method is applicable not only to a line scan camera but also to an electronic area camera or sensors for determining a linear position which project the object plane onto an image plane for calibration.
  • Distortion due to erroneous optics of the camera according to FIG. 3 is compensated during the calibration by assigning the known, predetermined distances at the calibration piece to specific pixel values.
  • a false measurement according to FIG. 4 due to shaded edges when viewing a workpiece with a predetermined thickness dimension to the right or left of the center or the vertical under the camera is compensated by ratio formation by the shading or displacement of an edge in the horizontal occurring at the calibration piece is set in relation to the known height h between the parallel planes on the calibration piece, wherein this ratio formation is carried out in all subregions of the calibration piece or the calibration.
  • a distortion of the figure of FIG. 5 due to lack of parallelism between the projection plane P in the camera and level of the measuring range or of the workpiece is compensated by the fact that by means of the calibration piece mutually parallel planes are defined in the pixel values of the camera.
  • an oblique camera position can be corrected with this method.
  • vertical dimensions or spaced-apart planes are defined on the basis of horizontally spaced gradations or light / dark transitions by assigning pixels or pixels in the camera to the edges of the gradations (holes), thus using the group of pixel values assigned to a particular gradation, also the level in which these gradations are located.
  • Prescribed calibration points or edges on the calibration piece are assigned to specific pixels in the projection plane of the camera, i. h., a number of spaced edges on the calibration piece certain pixels are assigned in order according to the distances of the edges in a horizontal plane, this assignment is expediently carried out in subregions of the measuring range successively in Operakalibrier intimiden, otherwise the length of the calibration piece of the length of the would correspond to the measuring range.
  • Each pixel associated with an edge or light / dark transition is assigned an "up” or “down” information value to determine if that pixel number is associated with one level or another.
  • a correction value is determined as a function of the distance from the vertical, by means of which correction of the edge shading is carried out for these pixels. Vertically below the camera, this correction value is 0, because there is no shading on the edges. At an edge to the right or to the left of the vertical viewing line, a shading is performed, which is corrected by the associated correction value, which results from the ratio formation between the known height H of the object to be measured and the height h at the calibration piece.
  • the measuring range is subdivided into pixel numbers spaced apart, to which the identifier "up” or “down” is assigned, the height h of the distance between top and bottom being recognized and assigned to the pixel numbers having the identifier "above “so that the correction value can be used to indicate where the edge lying vertically below is at the location of the pixels with the identifier" above ".

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

L'invention concerne un procédé servant à calibrer une caméra électronique ou un capteur, en particulier une caméra à matrice linéaire, dans laquelle des nombres consécutifs peuvent être associés à une série de points d'image et/ou pixels sur le plan de projection (P) de la caméra, et la zone de mesure détectable par l'optique de la caméra est séparée au moyen d'une pièce de calibrage en passages clairs/foncés de distance connue. Un nombre de pixels déterminé est associé à chaque passage clair/foncé; une évaluation des passages clairs/foncés fixés détermine quels passages clairs/foncés de la pluralité de plans potentiels doivent être associés à un plan supérieur de la pièce de calibrage, et passages clairs quels foncés à un plan inférieur, et calcule où un passage clair/foncé doit être disposé sur le plan inférieur, si seul le passage clair/foncé perpendiculaire sur le plan supérieur est visible à travers la caméra en raison d'une observation en biais.
PCT/EP2007/006153 2006-07-25 2007-07-11 Procédé et dispositif de calibrage d'une caméra électronique Ceased WO2008011989A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07785996A EP2050282A2 (fr) 2006-07-25 2007-07-11 Procédé et dispositif de calibrage d'une caméra électronique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006034350.6 2006-07-25
DE102006034350A DE102006034350A1 (de) 2006-07-25 2006-07-25 Verfahren und Vorrichtung zum Kalibrieren einer elektronischen Kamera

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Publication Number Publication Date
WO2008011989A2 true WO2008011989A2 (fr) 2008-01-31
WO2008011989A3 WO2008011989A3 (fr) 2008-04-17

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DE (1) DE102006034350A1 (fr)
WO (1) WO2008011989A2 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN120997277A (zh) * 2025-10-22 2025-11-21 中国科学院长春光学精密机械与物理研究所 一种探测器双平面联合优化的平行度的计算方法及其系统

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DE102009012997A1 (de) * 2009-03-13 2010-09-16 Bst International Gmbh Verfahren und Vorrichtung zum Messen der Lage der Kante einer Materialbahn
DE102014206580A1 (de) 2014-04-04 2015-10-08 Texmag Gmbh Vertriebsgesellschaft Materialband als kalibrationsschablone
DE112014006640B4 (de) 2014-05-06 2026-04-23 Carl Zeiss Industrielle Messtechnik Gmbh Verfahren und Vorrichtung zum Kalibrieren einer Abbildungsoptik für messtechnische Anwendungen
CN106982370B (zh) * 2017-05-03 2018-07-06 武汉科技大学 一种相机高精度校准标定板及实现校准的方法
CN108428252A (zh) * 2018-03-14 2018-08-21 河南科技大学 一种单线阵相机畸变标定方法

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US5825483A (en) * 1995-12-19 1998-10-20 Cognex Corporation Multiple field of view calibration plate having a reqular array of features for use in semiconductor manufacturing
NL1002680C2 (nl) * 1996-03-21 1997-09-23 Tno Testsysteem voor optische en electro-optische waarnemingsapparatuur.
DE10359361A1 (de) * 2003-09-09 2005-12-15 Clauß, Ulrich, Dr.-Ing. Verfahren und Anordnung zur Gewinnung hochwertiger Panorama-Bildaufnahmen
US7429999B2 (en) * 2004-05-24 2008-09-30 CENTRE DE RECHERCHE INDUSTRIELLE DU QUéBEC Camera calibrating apparatus and method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120997277A (zh) * 2025-10-22 2025-11-21 中国科学院长春光学精密机械与物理研究所 一种探测器双平面联合优化的平行度的计算方法及其系统

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DE102006034350A1 (de) 2008-01-31
WO2008011989A3 (fr) 2008-04-17

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