• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• 대한원격탐사학회지
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• 제30권3호
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• pp.383-397
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• 2014

Information technology advances are allowing conventional surveillance systems to be combined with mobile communication technologies, creating ubiquitous monitoring systems. This paper proposes monitoring system that uses smart camera technology. We discuss the dependence of interior orientation parameters on calibration target sheets and compare the accuracy of a three-dimensional monitoring system with camera location calculated by space resectioning using a Digital Surface Model (DSM) generated from stereo images. A monitoring housing is designed to protect a camera from various weather conditions and to provide the camera for power generated from solar panel. A smart camera is installed in the monitoring housing. The smart camera is operated and controlled through an Android application. At last the accuracy of a three-dimensional monitoring system is evaluated using a DSM. The proposed system was then tested against a DSM created from ground control points determined by Global Positioning Systems (GPSs) and light detection and ranging data. The standard deviation of the differences between DSMs are less than 0.12 m. Therefore the monitoring system is appropriate for extracting the information of objects' position and deformation as well as monitoring them. Through incorporation of components, such as camera housing, a solar power supply, the smart camera the system can be used as a ubiquitous monitoring system.

• 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.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2001년도 추계종합학술대회
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• pp.53-56
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• 2001

최근 무선 인터넷의 이용이 급격히 증가하고 있을 뿐만 아니가 사용사의 요구도 텍스트 기반의 무선 인터넷 데이터 서비스에서 그릴, 사운드, 영상 등의 무선 멀티미디어 데이터 서비스로 변하고 있다. 이러한 흐름에 따라, 본 논문에서는 기존에 많이 사용되는 무선 인터넷 프로토콜인 WAP(Wireless Application Protocol) 기반의 무선 인터넷 환경에서 어디서든지 원격지의 영상 이미지를 모니터링 할 수 있는 시스템을 제안하였고, 이는 기존의 고가의 인터넷 카메라 시스템과는 달리, 인터넷에 직접 연결 가능한 비디오 모듈과 PC로 구축된 서버를 사용한 저가의 효율적인 모니터링 시스템이다. 본 논문에서는 이러한 WAP 기반의 원격 화상 모니터링 시스템에 대한 설계와 구현 방법에 대해 서술하였다.

• 한국융합학회논문지
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• 제8권12호
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• pp.221-226
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• 2017

본 연구는 현대인의 필수품이라고 할 수 있는 스마트 폰 사용 환경 속에서, 카메라 애플리케이션과 촬영한 사진을 SNS에 공유하는 조작 환경에 대해 사용자 경험을 연구하였다. 이를 위하여, 조작, 편집, 공유 등 3가지 측면을 중심으로 총 10가지의 태스크를 선정하여 20대 남녀 각각 4명, 총 8명을 대상으로 태스크 수행을 한 후 수행시간을 측정하였다. 안드로이드 모바일 운영체제의 대표적인 사용자 인터페이스인 Samsung Experience 8과 LG UX 6.0을 중심으로 진행된 실험 결과, 3가지 측면에 대해서 인터페이스별로 사용성의 차이가 있다는 것을 확인할 수 있었다. 실험 과정에서 피실험자 모두 조작의 편이성과 다양한 기능을 장점으로 꼽았다. 하지만 다양한 기능을 설정할 수 있는 만큼, 텍스트 기반의 복잡한 인터페이스는 사용하는 데 어려움이 있었다. 향후, 사용자 인터페이스별로 카메라 애플리케이션의 사용성 향상을 위하여 지속적인 연구가 필요할 것이다.

• 한국가시화정보학회지
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• 제10권2호
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• pp.25-31
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• 2012

High-performance smartphones, equipped with a digital camera and an application software, can render conventional bench-top laboratory instruments mobile at affordable costs. As the smartphone-based devices are portable and wireless, they have wide applications especially in providing point-of-care (POC) tests in resource-constrained areas. We developed a hand-held diagnostic system, Mobile SmartScope, which consists of a small optical unit integrated with a smartphone. The performance of the SmartScope was favorably compared with that of conventional light microscopy in detecting and quantifying red blood cells. We also evaluated the fluorescence detection limit of the SmartScope incorporated with a blue light-emitting diode and appropriate optical filters by using fluorescently labeled microbeads for intensity calibration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.100.4-100
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• 2002

For visual navigation, mobile robot can use a stereo camera which has large field of view. In this paper, we propose an algorithm to detect and recognize human face on the basis of such camera system. In this paper, a new coarse to fine detection algorithm is proposed. For coarse detection, nearly face-like areas are found in entire image using dual ellipse templates. And, detailed alignment of facial outline and features is performed on the basis of view- based multiple appearance model. Because it hard to finely align with facial features in this case, we try to find most resembled face image area is selected from multiple face appearances using most distinguished facial features- two eye...

• 한국멀티미디어학회논문지
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• 제20권2호
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• pp.234-243
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• 2017

With the development of smartphone technologies enable photoplethysmogram (PPG) acquisition by camera and heart rate (HR) measurement. This papers presents improved algorithm to extract HR from PPG signal recorded by smartphone camera and to develop real-time PPG signal processing Android application. 400 video samples recorded by Samsung smartphone camera are imported as input data for further processing and evaluating algorithm on MATLAB. An optimized algorithm is developed and tested on Android platform with different kind of Samsung smartphones. To assess algorithm's performance, medical device Beurer BC08 is used as reference. According to related works, accuracy parameters includes 90% number of samples that has relative errors less than 5%, Person correlation (r) more than 0.9, and standard estimated error (SEE) less than 5 beats-per-minutes (bpm).

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.244-250
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• 2003

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a tele-operated mobile robot equipped with camera, the tele-operated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master(two degrees of freedom joystick), which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a tele-operated mobile robot significantly.

• 디지털산업정보학회논문지
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• 제12권4호
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• pp.107-114
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• 2016

Recently, 3D related technology has become a hot topic for IT. 3D technologies such as 3DTV, Kinect and 3D printers are becoming more and more popular. According to the flow of the times, the goal of this study is that the general public is exposed to 3D technology easily. we have developed a web-based application program that enables 3D modeling of facial front and side photographs using a mobile phone. In order to realize 3D modeling, two photographs (front and side) are photographed with a mobile camera, and ASM (Active Shape Model) and skin binarization technique are used to extract facial height such as nose from facial and side photographs. Three-dimensional coordinates are generated using the face extracted from the front photograph and the face height obtained from the side photograph. Using the 3-D coordinates generated for the standard face model modeled with the standard face as a control point, the face becomes the face of the subject when the RBF (Radial Basis Function) interpolation method is used. Also, in order to cover the face with the modified face model, the control point found in the front photograph is mapped to the texture map coordinate to generate the texture image. Finally, the deformed face model is covered with a texture image, and the 3D modeled image is displayed to the user.