• 전기학회논문지
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• 제58권3호
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

• 디지털콘텐츠학회 논문지
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• 제19권2호
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• pp.221-228
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• 2018

본 연구는 공포 장르 중에서 영화와 게임의 요소 측면에 초점을 맞추고 있다. 공포 영화의 카메라 앵글과 공포 게임의 구도는 사람에게 공포심을 유발할 주요한 요인이다. 본 연구는 4가지 공포요소(감각적 공포요소, 기대적 공포요소, 제한적 공포요소, 수행적 공포요소)를 분석하여 구도와 카메라 앵글의 패턴과 결합해서 분석하였다. 알플레드 히치콕 감독의 영화에 적용한 기법과 게임 구도의 구성 형태는 어떻게 상호 적용되는지 연구하였다. 결론적으로, 플레이어에게 공포심과 물입도를 더 증가시키는 구도를 제시했다. 즉 대각선 구도, 양대각선 구도, 역삼각 구도는 시각적인 요소와 같이 사용한다면 플레이어에게 물입도와 공포심을 유발할 수 있다. 향후 게임을 제작할 때 플레이어에게 공포감을 향상시킬 수 있는 구도를 제시하고자 하고 게임을 디자인할 때 공포감과 물입도를 증가시키는 구도를 활용할 것이다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.360-362
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD(Head Mounted Display) using the feature points detection to control the tele-operated vision system on the mobile robot. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.415-420
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• 2004

We present a new algorithm for the calibration of a camera and the recovery of 3D scene structure up to a scale from image sequences using known angles between lines in the scene. Traditional method for calibration using scene constraints requires various scene constraints due to the stratified approach. Proposed method requires only one type of scene constraint of known angle and also it directly recovers metric structure up to an unknown scale from projective structure. Specifically, we recover the matrix that is the homography between the projective structure and the Euclidean structure using angles. Since this matrix is a unique one in the given set of image sequences, we can easily deal with the problem of varying intrinsic parameters of the camera. Experimental results on the synthetic and real images demonstrate the feasibility of the proposed algorithm.

• 한국측량학회지
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• 제7권2호
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• pp.63-68
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• 1989

본 연구는 근거리 사진측량에 있어서 비측량용 사진기를 이용한 수렴사진에 대한 수학적 정확도 예측모델을 개발하고, 촬영거리와 수렴각의 변화에 따른 위치오차를 분석함으로써 정확도 예측모델의 타당성을 입증하였다. 본 연구에서 개발한 정확도 예측모델을 이용하여 주어진 촬영조건하에서 대상물에 대한 정확도를 예측할 수 있었으며, 또한 대상물의 평면 및 높이에 관한 요구되는 정확도에 따른 합리적인 촬영방법을 제안하였다.

• 대한원격탐사학회지
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• 제24권6호
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• pp.641-644
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• 2008

본 저자가 제안한 카메라 외부표정에서 광속조정법에 기반한 카메라 자세계산 방법을 보완하기위해 (전재춘과 Shankar, 2007, 2008), 본 논문은 카메라 자세를 벡터내적으로 결정하는 방법을 소개한다. 카메라 위치를 기준으로 각 지상기준점의 방향벡터와 카메라 광축 단위벡터간의 사잇각을 통하여 이 단위벡터를 계산하는 것이다. 카메라 위치는 벡터내적에 의해 계산된다. 카메라의 수평/수직 단위벡터는 Yakimovsky 와 Cunningham(1978)의 카메라 모델(CAHV)을 이용 하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.510-514
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• 1994

This paper deals with an application of neural network to camera calibration with wide angle lens and 2-D range finding. Wide angle lens has an advantage of having wide view angles for mobile environment recognition ans robot eye in hand system. But, it has severe radial distortion. Multilayer neural network is used for the calibration of the camera considering lens distortion, and is trained it by error back-propagation method. MLP can map between camera image plane and plane the made by structured light. In experiments, Calibration of camers was executed with calibration chart which was printed by using laser printer with 300 d.p.i. resolution. High distortion lens, COSMICAR 4.2mm, was used to see whether the neural network could effectively calibrate camera distortion. 2-D range of several objects well be measured with laser range finding system composed of camera, frame grabber and laser structured light. The performance of 3-D range finding system was evaluated through experiments and analysis of the results.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.205-207
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• 2004

The simple method of the geometric reconstruction of satellite linear pushbroom images is 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 orbital 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. We suppose that four orbital parameters and satellite attitude angles are exactly acquired. Then, in order to refine model, the given attitude angles and orbital parameters is not changed, but time-independent four parameters associated with LOS(Line Of Sight) vector is updated. A pair of SPOT-5 images has been used for validation of proposed method. Two GCPs acquired by GPS survey is used to controlling the LOS vector. The results are that the RMSE of 16 checking points are about 4.5m. 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 taken by pushbroom camera.

• 전기학회논문지
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• 제67권6호
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• pp.782-788
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• 2018

This paper proposes a novel method for the omnidirectional camera-based image rendering synchronization system using head mounted display. There are two main processes in the proposed system. The first one is rendering 360-degree images which are remotely photographed to head mounted display. This method is based on transmission control protocol/internet protocol(TCP/IP), and the sequential images are rapidly captured and transmitted to the server using TCP/IP protocol with the byte array data format. Then, the server collects the byte array data, and make them into images. Finally, the observer can see them while wearing head mounted display. The second process is displaying the specific region by detecting the user's head rotation. After extracting the user's head Euler angles from head mounted display's inertial measurement units sensor, the proposed system display the region based on these angles. In the experimental results, rendering the original image at the same resolution in a given network environment causes loss of frame rate, and rendering at the same frame rate results in loss of resolution. Therefore, it is necessary to select optimal parameters considering environmental requirements.

• Advances in robotics research
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• 제1권1호
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• pp.81-99
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• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.