• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.1
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• pp.15-25
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• 2010

The objective of this study is to investigate the optimal arrangement of cameras used for the robot's vision control scheme. The used robot's vision control scheme involves two estimation models, which are the parameter estimation and robot's joint angle estimation models. In order to perform this study, robot's working region is divided into three work spaces such as left, central and right spaces. Also, cameras are positioned on circular arcs with radius of 1.5m, 2.0m and 2.5m. Seven cameras are placed on each circular arc. For the experiment, nine cases of camera arrangement are selected in each robot's work space, and each case uses three cameras. Six parameters are estimated for each camera using the developed parameter estimation model in order to show the suitability of the vision system model in nine cases of each robot's work space. Finally, the robot's joint angles are estimated using the joint angle estimation model according to the arrangement of cameras for robot's point-position control. Thus, the effect of camera arrangement used for the robot's vision control scheme is shown for robot's point-position control experimentally.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.143-151
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• 2010

Automation and robotization has been required in construction for several decades and construction industry has become one of the important research areas in the field of service robotics. Especially in the steel construction, automatic recognition of structural steel members in the stockyard is emphasized. However, since the pose of steel frame in the stockyard is site dependent and also the stockyard is usually in the outdoor environment, it is difficult to determine the pose automatically. This paper adopts the recognition method based on the augmented reality to cope with this problem. Particularly focusing on the light condition of the outdoor environment, we formulated the optimization problem with the constraint and suggested the methodology to evaluate the optimal camera arrangement. From simulation results, sub-optimal solution for the position of the camera can be obtained.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.233-236
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• 2004

In this study, we analyzed the accuracy of the conversion from DLT parameters to physical camera parameters and optimized the use of DLT model for non-metric cameras in photogrammetric tasks. Using the simulated data, we computed two sets of physical camera parameters from DLT parameters and Bundle adjustment for various cases. Comparing two results based on the RMSE values of check points, we optimized the arrangement of GCPs for DLT.

• Journal of Korea Society of Digital Industry and Information Management
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• v.4 no.4
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• pp.1-8
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• 2008

The USN is important in technique, unmanned observation using wireless network camera, detection technique that use intrusion detection sensor. But these encrypted data transmission and processing technique through sensor network, method of the staff's location recognition and arrangement aren't serviced still as a integrated system in facility security industry. This paper proposed that improve facility management, the staff present recognition and system efficiency using RFID, USN and wireless camera.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.21 no.9
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• pp.32-38
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• 2007

In this study, a new algorithm for measuring the velocity and distance from a camera to a moving object by using pseudo-stereo images obtained from a single camera with a stereo adapter is proposed. The proposed system is similar to a parallel visual stereo system using a two-camera system, but because this system can obtain pseudo-stereo images form a single camera, it has advantages not only in the aspect of cost but also in stereo conformity by arrangement and the calibration of the left and right stereo cameras upon image processing.

• Journal of the Korean Institute of Navigation
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• v.16 no.3
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• pp.77-85
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• 1992

Camera arrangement for depth and image correspondence is very important to the computer vision. Two conventional comera arrangements for stereo computer vision are lateral model and axial motion model. In this paper, using the axial motion stereo camera model, the algorithm for camera focal length measurement and the surface smoothness with the radiance-irradiance is proposed fro 3-dimensional image correspondence on stereo computer vision. By adapting the above algorithm, camera focal length can be measured precisely and the resolution of 3-dimensional image correspondence has been improved comparing to that of the axial motion model without the radiance-irradiance relation.

• Journal of Korean Society for Geospatial Information Science
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• v.13 no.2 s.32
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• pp.39-43
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• 2005

In this study, we analyzed the accuracy of the conversion from DLT parameters to physical camera parameters and optimized the use of DLT model for non-metric cameras in photogrammetric tasks. Using the simulated data, we computed two sets of physical camera parameters from DLT parameters and Bundle adjustment for various cases. Comparing two results based on the RMSE values of check points, we optimized the arrangement of GCPs for DLT.

• Ocean Systems Engineering
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• v.1 no.3
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• pp.195-205
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• 2011

A method for calibrating a laser profiling system for seafloor micro-topography measurements is described. The system consists of a digital camera and an arrangement of six red lasers that are mounted as a unit on a remotely operated vehicle (ROV). The lasers project as parallel planes onto the seafloor, creating profiles of the local topography that are interpreted from the digital camera image. The goal of the calibration was to determine the plane equations for the six lasers relative to the camera. This was accomplished in two stages. First, distortions in the digital image were corrected using an interpolation method based on a virtual pinhole camera model. Then, the laser planes were determined according to their intersections with a calibration target. The position and orientation of the target were obtained by a registration process. The selection of the target shape and size was found to be critical to a successful calibration at sea, due to the limitations in the manoeuvrability of the ROV.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.49.1-49
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• 2002

$\textbullet$ Intelligent Space 1. Optimal Camera Arrangement 2. People Tracking 3. Physical Robot 4. Robot Control 5. People Following Robot $\textbullet$ Initial stage for making high-level human robot interaction. http://dfs.iis.u-tokyo.ac.jp/∼leejooho/ispace/.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.391-394
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• 2005

In this paper, we present an approach that is able to reconstruct 3 dimensional metric models from un-calibrated images acquired by a freely moved camera system. If nothing is known of the calibration of either camera, nor the arrangement of one camera which respect to the other, then the projective reconstruction will have projective distortion which expressed by an arbitrary projective transformation. The distortion on the reconstruction is removed from projection to metric through self-calibration. The self-calibration requires no information about the camera matrices, or information about the scene geometry. Self-calibration is the process of determining internal camera parameters directly from multiply un-calibrated images. Self-calibration avoids the onerous task of calibrating cameras which needs to use special calibration objects. The root of the method is setting a uniquely fixed conic(absolute quadric) in 3D space. And it can make possible to figure out some way from the images. Once absolute quadric is identified, the metric geometry can be computed. We compared reconstruction image from calibrated images with the result by self-calibration method.