• 디지털산업정보학회논문지
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• 제9권1호
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• pp.141-150
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• 2013

This study proposes technology using Active Shape Model to track the object separating it by depth-sensors. Unlike the common visual camera, the depth-sensor is not affected by the intensity of illumination, and therefore a more robust object can be extracted. The proposed algorithm removes the horizontal component from the information of the initial depth map and separates the object using the vertical component. In addition, it is also a more efficient morphology, and labeling to perform image correction and object extraction. By applying Active Shape Model to the information of an extracted object, it can track the object more robustly. Active Shape Model has a robust feature-to-object occlusion phenomenon. In comparison to visual camera-based object tracking algorithms, the proposed technology, using the existing depth of the sensor, is more efficient and robust at object tracking. Experimental results, show that the proposed ASM-based algorithm using depth sensor can robustly track objects in real-time.

• Journal of Advanced Marine Engineering and Technology
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• 제29권5호
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• pp.560-570
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• 2005

In this paper, we discuss the tracking system for a wheelchair which can follow the path of a human target such as a nurse in hospital. The problem of human tracking is that it requires recognition of feature as well as the tracking of human positions. For this purpose the use of a high cost visual sensor such as laser finder or streo camera makes the tracking a high cost additional expense. This paper proposes the tracking system uses a low cost infrared range-finder and CCD camera, The Infrared range-finder and CCD camera can create a target candidate through each target recognition algorithm. and this information is fused in order to reduce the uncertainties of a target decision and correct the positional error of the human. The effectiveness of the proposed system is verified through experiments.

• 한국통신학회논문지
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• 제42권1호
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• pp.8-13
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• 2017

Compare with other communication system based RF technology, Optical Camera Communication (OCC) has limitation on data rate due to the low frame rate of camera. The limitation on data rate can be solved with multiple-input and multiple-output (MIMO) technology; and it is the final target of all researches on OCC. The MIMO topology can be implemented easily without breaking out the architecture of image sensor. For image sensor classification, there are two architectures have been developed: rolling shutter and global shutter. The operation of two techniques is different so the performance is also different. In this paper we analyze and evaluate the performance of the MIMO architecture for OCC.

• 로봇학회논문지
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• 제4권4호
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• pp.312-319
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• 2009

This paper proposes a low-complexity indoor localization method of mobile robot under the dynamic environment by fusing the landmark image information from an ordinary camera and the distance information from sensor nodes in an indoor environment, which is based on sensor network. Basically, the sensor network provides an effective method for the mobile robot to adapt to environmental changes and guides it across a geographical network area. To enhance the performance of localization, we used an ordinary CCD camera and the artificial landmarks, which are devised for self-localization. Experimental results show that the real-time localization of mobile robot can be achieved with robustness and accurateness using the proposed localization method.

• 디지털산업정보학회논문지
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• 제12권1호
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• pp.27-33
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• 2016

In this study we propose a method for 3D landform reconstruction and object modeling method by generating contour lines on the map using a depth sensor which abstracts characteristics of geological layers from the depth map. Unlike the common visual camera, the depth-sensor is not affected by the intensity of illumination, and therefore a more robust contour and object can be extracted. The algorithm suggested in this paper first abstracts the characteristics of each geological layer from the depth map image and rearranges it into the proper order, then creates contour lines using the Bezier curve. Using the created contour lines, 3D images are reconstructed through rendering by mapping RGB images of the visual camera. Experimental results show that the proposed method using depth sensor can reconstruct contour map and 3D modeling in real-time. The generation of the contours with depth data is more efficient and economical in terms of the quality and accuracy.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 춘계학술발표대회 개요집
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• pp.49-52
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• 2002

A vision sensor measure range data using laser light source, This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which needs faster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

• 한국정밀공학회지
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• 제12권8호
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• pp.73-85
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• 1995

The sensor system to measure the distance precisely from the center of the sensor system to the obstacle is needed to recognize the surrounding environments, and the sensor system is to be calibrated thoroughly to get the range information exactly. This study covers the calibration of the active range sensor which consists of camera and laser slit emitting device, and provides the equations to get the 3D range data. This can be possible by obtaining the extrinsic parameters of laser slit emitting device through image processing the slits measured during the constant distance intervals and the intrinsic parameters from the calibration of camera. The 3D range data equation derived from the simple geometric assumptions is proved to be applicable to the general cases using the calibration parameters. Also the exact 3D range data were obtained to the object from the real experiment.

• IEIE Transactions on Smart Processing and Computing
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• 제6권3호
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• pp.175-182
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• 2017

In this paper, we present a multi-depth generation method using a time-of-flight (ToF) fusion camera system. Multi-view color cameras in the parallel type and ToF depth sensors are used for 3D scene capturing. Although each ToF depth sensor can measure the depth information of the scene in real-time, it has several problems to overcome. Therefore, after we capture low-resolution depth images by ToF depth sensors, we perform a post-processing to solve the problems. Then, the depth information of the depth sensor is warped to color image positions and used as initial disparity values. In addition, the warped depth data is used to generate a depth-discontinuity map for efficient stereo matching. By applying the stereo matching using belief propagation with the depth-discontinuity map and the initial disparity information, we have obtained more accurate and stable multi-view disparity maps in reduced time.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.119-122
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• 2002

The paper proposed the intelligent inference method which keeps MV(Mobile vehicle) a little way off from men and makes it follow them using fuzzy controller Recognizing positions of MV and Men and distance between them was used to infer movement angle and speed of the MV with multi-ultrasonic sensor and USB camera The very important thing Is that the MV needs to obtain surrounding Information from the sensor and the camera, then It needs to represent those circumstances MV was controlled by inference from the speed and angle which are obtained from sensor and camera. Traveling simulation with a real MV was performed repeatedly to verify the usefulness of the fuzzy logic algorithm which was proposed in this paper. And a successful result of the experiment demonstrated the excellence of the fuzzy logic controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1729-1730
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• 2008

In the industry, the automation of brazing system is very important using the vision senor and the edge detection of the bronze pipe. And also, the accurate coordination is needed for the finding of the precise location. In this paper, we propose an algorithm for the measurement of 3D information of the brazing material and the detection algorithm of soldering area using the camera and IR sensor. We use Canny edge detector in noisy environments. The experimental study shows that camera and IR sensor is useful for the measurement of distance in the brazing work.