• 제어로봇시스템학회논문지
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• 제15권12호
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• pp.1223-1231
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• 2009

We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.596-601
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• 2000

In a robot/vision system, the vision sensor, typically a CCD array sensor, is mounted on the robot hand. The problem of determining the relationship between the camera frame and the robot hand frame is refered to as the hand-eye calibration. In the literature, various methods have been suggested to calibrate camera and for sensor registration. Recently, one-step approach which combines camera calibration and sensor registration is suggested by Horaud & Dornaika. In this approach, camera extrinsic parameters are not need to be determined at all configurations of robot. In this paper, by modifying the camera model and including the lens distortion effect in the perspective transformation matrix, a new one-step approach is proposed in the hand-eye calibration.

• 센서학회지
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• 제14권2호
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• pp.109-115
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• 2005

Calibration is a prerequisite procedure for employing a camera as a 3D sensor in an automated machines like robots. As accurate sensing is possible only when the vision sensor is calibrated accurately, many different approaches and models have been proposed for increasing calibration accuracy. Particularly an important factor which greatly affects the calibration accuracy is the nonlinearity in the mapping between 3D world and corresponding 2D image. In this paper GMDH algorithm is used to learn the nonlinearity without physical modelling. The technique proposed can be effective in various situations where the levels of noises and characteristics of nonlinear distortion are different. In simulations and an experiment, the proposed technique showed good and reliable results.

• 한국산학기술학회논문지
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• 제10권5호
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• pp.909-916
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• 2009

본 연구는 위상천이 영사식 모아레 측정기의 기준 위상 측정단계에서 기준 위상의 검출 정확도를 높이기 위한 방안으로, 일반적인 N-bucket 방법이 아닌, 줄무늬 패턴 투사 영상의 직접적인 영상처리를 기반으로, 노이즈가 포함된 영상으로부터 기준 위상을 자동으로 검출하고 보정하는 방법을 다룬다. 일반적으로 기준위상을 정확히 구하기 위해서는 상대적으로 노이즈가 원천적으로 적은 고정밀도의 교정 시편과 이에 맞는 세분화된 교정방법이 필요하다. 하지만, 고가의 시편 제작비용 절감과 고정도 교정을 위한 교정시간의 단축을 위해, 상대적으로 일반 정밀도등급의 제작된 시편으로부터 획득된 영상을 이용하여, 효율적인 기준위상 교정 방법을 제안한다. 투사된 평행 라인 띠가 시편에서 반사되어 카메라로 입력되는 영상으로부터, 영상처리 라인마스크를 이용하여 격자 라인들의 중심점을 정밀하게 추출하고, 각 라인들에서 추출된 샘플링점 기반의 최소자승법을 이용하여, 라인 특징치인 기울기와 절편을 추출함으로써 실제 관측되는 격자 라인의 중심선을 획득하였으며, 획득된 중심선들을 이용하여 N-bucket 알고리즘에 적용할 수 있도록 위상을 추출한 후, 기준위상을 자동으로 생성하였다. 본 연구를 통하여 고가의 시편 제작 없이 빠르게 자동으로 기준위상을 추출할 수 있었다.

• Journal of Biosystems Engineering
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• 제40권1호
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• pp.89-93
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• 2015

Purpose: Machine vision-based image processing methods can be useful for estimating the fresh weight of plants. This study analyzes the ability of two different image processing methods, i.e., morphological and pixel-value analysis methods, to measure the fresh weight of lettuce grown in a closed hydroponic system. Methods: Polynomial calibration models are developed to relate the number of pixels in images of leaf areas determined by the image processing methods to actual fresh weights of lettuce measured with a digital scale. The study analyzes the ability of the machine vision- based calibration models to predict the fresh weights of lettuce. Results: The coefficients of determination (> 0.93) and standard error of prediction (SEP) values (< 5 g) generated by the two developed models imply that the image processing methods could accurately estimate the fresh weight of each lettuce plant during its growing stage. Conclusions: The results demonstrate that the growing status of a lettuce plant can be estimated using leaf images and regression equations. This shows that a machine vision system installed on a plant growing bed can potentially be used to determine optimal harvest timings for efficient plant growth management.

• 대한토목학회논문집
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• 제28권2D호
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• pp.277-285
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• 2008

엑스선 영상은 의료분야에서 많이 활용되고 있으며 특히 인간의 골격형성 과정에서 발생할 수 있는 척추만곡의 변형을 파악하는 데 아주 효율적이다. 본 연구에서는 엑스선 영상의 사진기 검정과 엑스선 영상을 이용한 대상물의 3차원 좌표 결정에 중점을 두었다. 엑스선 사진기를 이용한 대상물의 좌표결정 과정은 엑스선 사진기 검정을 위해서 방사선이 투과되지 않게 제작된 쇠볼이 배치된 1차 검정대상물을 이용하여 엑스선 영상의 내부표정요소와 외부표정요소를 결정하고 이로 부터 엑스선에 교차하게 아크릴로 제작된 두 면을 가지고 있는 엑스선 검정장의 3차원 좌표를 결정하는 2단계 과정을 거쳤다. 사진측량기법에 의해 결정된 엑스선 검정장의 3차원 좌표값은 정밀하게 관측된 CMM과의 비교를 통하여 그 정확도를 평가하였으며 엑스선의 진행방향(X축)에 대한 오차가 Y축과 Z축에 비해 상대적으로 높게 나타났으나 Y축과 Z축에 대한 위치오차는 수 mm의 정확도를 나타내었다. 본 연구를 통해서 사진측량기법은 환자의 3차원 위치결정이나 의료용 교정기기를 제작하는데 도움을 줄 수 있을 것으로 사료된다.

• 한국해양공학회지
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• 제12권2호통권28호
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• pp.121-129
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• 1998

A quantitative non-contact multi-point measurement system is proposed to the measurement of three-dimensional movement of floating vessels by using digital image processing. The instantaneous three-dimensional movement of a floating structure which is floating in a small water tank is measured by this system and its three-dimensional movement is reconstructed by the measurement results. The validity of this system is verified by position identification for spatially distributed known positional values of basic landmarks set for the camera calibration. It is expected that this system is applicable to the non-contact measurement for an unsteady physical phenomenon especially for the measurement of three-dimensional movement of floating vessels in the laboratory model test.

• 한국정밀공학회지
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• 제21권10호
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• pp.102-108
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• 2004

In this paper, we studied a vibration problem that is critical and common to most precision measurement systems. For micro mechanical part measurements, results obtained from the vision-based precision measurement system may contain errors due to the vibration. In order to defeat this generic problem, for the current study, a PC based image processing technique was used first, to assess the effect of the vibration to the precision measurement and second, to develop an in-situ calibration algorithm that automatically compensate the measurement results in real time. We used a set of stereoscopic CCD cameras to acquire the images for the dimensional measurement and the reference measurement. The mapping function was obtained through the in-situ calibration to compensate the measurement results and the statistical analysis for the actual results is provided in the paper. Based on the current statistical study, it is expected to obtain high precision results for the micro measurement systems.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
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• pp.100-103
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• 2008

COMS(Communication, Ocean and Meteorological Satellite) has multiple payloads; Meteorological Image(MI), Ocean Color Imager(GOCI) and Ka-band communication payloads. MI has 4 IR and 1 visible channel. In order to improve the quality of IR image, two calibration sources are used; black body image and cold space look data. In case of COMS, the space look is performed at 10.4 degree away from the nadir in east/west direction. During space look, SUN or moon intrusions are strictly forbidden, because it would degrade the quality of collected IR channel calibration data. Therefore we shall pay attention to select space look side depending on SUN and moon location. This paper proposes and discusses a simple and complete space look side selection logic based on SUN and moon intrusion event file. Computer simulation has been performed to analyze the performance of the proposed algorithm in term of east/west angular distance between space look position and hazardous intrusion sources; SUN and moon.

• 한국정보통신학회논문지
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• 제17권3호
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• pp.597-602
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• 2013

본 논문에서는 렌즈화각 150도 이상의 메가 픽셀급 렌즈가 획득한 영상이 통형 왜곡을 보정하는 광각렌즈 모듈의 설계를 제안한다. 이로서 초광각 렌즈에서 획득된 영상은 WDR(Wide dynimic range) 2메가급 CMOS 이미지 센서데이터를 통해 초광각 영상의 왜곡영상을 보정하는 2 메가급 카메라 모듈의 왜곡영상의 화질을 개선한다.