• 한국공작기계학회논문집
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• 제13권2호
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• pp.94-103
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• 2004

The vision system model used for this study involves the six parameters that permits a kind of adaptability in that relationship between the camera space location of manipulable visual cues and the vector of robot joint coordinates is estimated in real time. Also this vision control method requires the number of cameras to transform 2-D camera plane from 3-D physical space, and be used irrespective of location of cameras, if visual cues are displayed in the same camera plane. Thus, this study is to investigate the optimal number of cameras used for the developed vision control system according to the change of the number of cameras. This study is processed in the two ways : a) effectiveness of vision system model b) optimal number of cameras. These results show the evidence of the adaptability of the developed vision control method using the optimal number of cameras.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.368-372
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• 2009

Pin-hole model has been widely used as a robust tool for easily understanding how to obtain a stereo image and how to present the depth-cue to an observer in stereoscopy. However, most of the processes to analyze depth cue in stereoscopy are performed that a stereo image is taken by camera model practically but depth cue of the image is analyzed by pin-hole model. Therefore, the result of depth cues by the process to be uncorrected. The reason of the uncorrected depth cue is led to the image distances of camera model due to variable focused object distances, and it makes a depth distortion. In this paper, we tried to show the contradiction such as occurring depth distortion in the process which the pin-hole model is used to analyze depth cue despite practical camera model is used in stereoscopy, and we presents the method to overcome the contradiction.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권1호
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• pp.39-46
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• 2006

We propose an global color model based method for tracking motions of multiple human using a networked multiple-camera system in intelligent space as a human-robot coexistent system. An intelligent space is a space where many intelligent devices, such as computers and sensors(color CCD cameras for example), are distributed. Human beings can be a part of intelligent space as well. One of the main goals of intelligent space is to assist humans and to do different services for them. In order to be capable of doing that, intelligent space must be able to do different human related tasks. One of them is to identify and track multiple objects seamlessly. In the environment where many camera modules are distributed on network, it is important to identify object in order to track it, because different cameras may be needed as object moves throughout the space and intelligent space should determine the appropriate one. This paper describes appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• 한국생산제조학회지
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• 제19권1호
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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.

• 대한의용생체공학회:의공학회지
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• 제25권2호
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• pp.103-109
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• 2004

가상 관절경은 무릎, 어깨 둥 관절에 대한 단층촬영 영상으로부터 관절 내부의 해부학적 구조를 3차원으로 재구성함으로써 광학 관절경을 모사 하는 기법이다. 이 논문에서는 볼륨 렌더링 기법의 일종인 등위면 광선투사법을 이용하여 3차원 영상을 신속하게 생성하는 가상 관절경 기법을 제안한다 여기서 제안하는 등위면 광선투사법은 최대-최소맵을 이용하여 전처리 과정 없이도 실시간에 가까운 속도로 고화질의 영상을 얻을 수 있다. 또한 물리 기반 카메라 제어 모델을 이용함으로써 사용자가 복잡한 해부구조를 가진 관절강 내부에서 가상 카메라를 자유롭게 이동시킬 수 있다. 이러한 고속 렌더링 방법과 현실감 있는 카메라 제어기법을 이용하여 대화식 가상 관절경을 개발하였다.

• 한국측량학회지
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• 제32권6호
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• pp.563-570
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• 2014

This paper purposes on stimulating the dynamic behavior of a floating structure model with the image processing and the close-range photogrammetry, instead of the contact sensors. Previously, the movement of structures was presented by the exterior orientation estimation from a single camera following the space resection. The inverse resection yields to 6 orientation parameters of the floating structure, with respect to the camera coordinates system. The single camera solution of interest in applications is characterized by the restriction in terms of costs, unfavorable observation conditions, or synchronization demands when using multiple cameras. This paper discusses the theoretical determinations of camera exterior orientation by using the least squares adjustment, applied of the values from the DLT (Direct Linear Transformation) and the photogrammetric resection. This proposed method is applied to monitor motions of a floating model. The results of 6DOF (Six Degrees of Freedom) from the inverse resection were signified that applying appropriate initial values from DLT in the least square adjustment is effective in obtaining precise exterior orientation parameters. Therefore, the proposed method can be concluded as an efficient solution to simulate movements of the floating structure.

• 한국항공우주학회지
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• 제44권7호
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• pp.545-551
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• 2016

적외선 열화상 방식을 사용하여 초음속 풍동모델 표면온도를 측정하였다. 표면온도를 정량적으로 파악하기 위해 적외선 카메라 감지신호의 흑체 보정, 카메라와 렌즈의 불완전한 평형 등으로 야기되는 왜곡 보정, 그리고 모델표면 시야각에 따른 방사율 보정을 수행하였다. 본 연구를 통해 적외선 카메라를 이용한 표면온도측정의 왜곡보정 기술을 확보하였으며, 공력특성 실험을 통해 통상적으로 사용되는 이차원 시험모델 사용시 정성적일 뿐만 아니라 정량적인 계측을 위해서는 왜곡보정이 고려되어야 함을 입증하였다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.1162-1164
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• 2003

The methods of the geometric reconstruction and sensor calibration of satellite linear pushbroom images are investigated. The model of the sensor used is based on the SPOT model that is developed by Kraiky. The satellite trajectory is a Keplerian trajectory in the approximation. Four orbit parameters, longitude of the ascending node(${\omega}$), inclination of the orbit plan(I), latitude argument of the satellite(W) and distance between earth center and satellite, are used for the camera modeling. Time-dependent orbit parameters are expressed by quadratic polynomials. SPOT-5 images have been used for validation tests. The results are that the RMSE acquired from 20 GCPs is 1.763m and the RMSE of 5 checking points 2.470m. Because the ground resolution of SPOT-5 is 2.5m, the result obtained in this study has a good accuracy. It demonstrates that the sensor model developed by this study can be used to reconstruct the geometry of satellite image using pushbroom camera.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.803-811
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• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.178-184
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• 2004

In this paper, we designed an image processing system for the high speed line-scan camera which adopts the new memory model we proposed. As a resolution and a data rate of the line-scan camera are becoming higher, the faster image processing systems are needed. But many conventional systems are not sufficient to process the image data from the line-scan camera during a very short time. We designed the memory controller which eliminates the time for transferring image data from the line-scan camera to the main memory with high-speed SRAM and has a dual-port configuration therefore the DSP can access the main memory even though the memory controller are writing the image data. The memory controller is implemented by VHDL and Xilinx SPARTAN-IIE FPGA.