• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.241-245
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• 2003

This paper introduces a method that can derive information about the movement of a spreader and skew in order to drive ALS(Automatic Landing System) in the crane used at a harbor. Some methods that use LDL Corner detectors a kind of 2D Laser scanner sensor or Laser distance measuring units to obtain the information in ALS are used presently. But these have some defects in economic efficiency and performance. Therefore, to correct these defects, we propose a method to acquire the information for the movement of a spreader, skew and sway angle using CCD camera image data and Laser distance measuring unit data.

• 전자공학회논문지B
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• 제33B권5호
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• pp.94-101
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• 1996

When objects are scanned spatially by a laser-beam and mechanical mirror scanners, spatial information can be obtained, and then it is improtant to accurately obtain the parameters relating the light source and camera positions, etc.. In this paper, a calibration technique is presented for correction of measuremtn errors in a three-dimensional laser scanner system with two galvanometers. First, a model of the systematic errors is developed based on the geometry of the scanning system. Calibration parameter values are then iteratively adjusted with coarse-fine search in order to minimize errors (evaluation function) between measured and computed distances. It is shown that this correction method results in measurement precision suitable for practical use.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2010년도 춘계 학술발표회
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• pp.1324-1333
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• 2010

This paper is used in a recent civil engineering field in three-dimensional laser-meter tiles using thermal imaging cameras for the weathered rock slopes precisely measured indirectly, to the degree that began in the will. In the field is difficult to access the degree of weathering of the rock slope to the existing direct way to compensate for the shortcomings of 3D Terrestrial Laser Scanner and weathering characteristics of rocks using thermal imaging cameras to get the information to analyze the degree of rock weathering is. Intensity of 3D TLS and the thermal camera with image analysis to analyze the degree of weathering of bedrock in the field of core drilling targeting indoor laboratory tests were analyzed through the study. Granite, gneiss, sandstone, much of the cancerous samples, each experiment has a 40 per category, each of which 30 were used to analyze the data collected. That degree of rock weathering, the rock, depending on the strength of the Intensity values can change, depending on the level of thermal imaging camera, also weathered the changes in temperature could see. Intensity is the strength of weak rocks, the more value decrease, the temperature of the thermal imaging camera through the swell Intensity and notice that the temperature had an inverse relationship. Intensity value of the low strength of weak rock, but the value came out of the rocks have been proved to be largely dependent on the contrast. The contrast of the surface rocks are weathered dark Intensity values lower temperature to swell the contrary, the degree of weathering can be distinguished.

• 국제학술발표논문집
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• The 8th International Conference on Construction Engineering and Project Management
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• pp.361-370
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• 2020

Automatic building material recognition has been a popular research interest over the past decade because it is useful for construction management and facility management. Currently, the extensively used methods for automatic material recognition are mainly based on 2D images. A terrestrial laser scanner (TLS) with a built-in camera can generate a set of coloured laser scan data that contains not only the visual features of building materials but also other attributes such as material reflectance and surface roughness. With more characteristics provided, laser scan data have the potential to improve the accuracy of building material recognition. Therefore, this research aims to develop a TLS-based building material recognition method by combining machine learning techniques. The developed method uses material reflectance, HSV colour values, and surface roughness as the features for material recognition. A database containing the laser scan data of common building materials was created and used for model training and validation with machine learning techniques. Different machine learning algorithms were compared, and the best algorithm showed an average recognition accuracy of 96.5%, which demonstrated the feasibility of the developed method.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.90-98
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• 2015

This research propose with image-based visual a new approach to design a feedback control 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 camera, 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 inmage-based visual feedback. Recently, image based visual feedback 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 feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1679-1684
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• 2004

This paper introduces a novel approach that can provide the three dimensional information on the movement of a spreader by using two CCD cameras and a laser distance sensor, which enables an ALS (Automatic Landing System) to be used for yard cranes at a harbor. So far a kind of 2D Laser scanner sensor or laser distance measuring units are used as corner detectors for the geometrical matching between the spreader and a container, which provides only 2D information which is not enough for an accurate and fast ALS system required presently. In addition to this deficiency in performance, the price for the system is too high to be adopted widely for the ALS. Therefore, to overcome these defects, a novel method to acquire the three dimensional information for the movement of a spreader including skew and sway angles is proposed using two CCD cameras and a laser distance sensor. To show the efficiency of proposed algorithm, real experiments are performed to show the accuracy improvement in distance measurement by fusing the sensory information of CCD camera and laser distance sensor.

• 전자공학회논문지CI
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• 제38권2호
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• pp.27-32
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• 2001

본 논문은 패러렐 카메라 모델을 사용한 카메라 캘리브레이션과 3차원 스캐닝 알고리즘에 관한 것이다. 레이저 스트립라인이 스테레오 매칭을 위해 보조적으로 사용하였으나 원리적으로는 불필요하다. 피측정 물체는 스뎀핑모터에 의해 플레이트 위에서 360도 회전하며, 카메라로부터 거리를 측정하여 월드좌표를 구한다. 피측정 물체의 월드좌표는 모델좌표로 변환되며 다수의 군집 모델좌표로부터 모델링을 위한 면을 추출하고 OpenGL을 이용하여 렌더링 한다. 본 알고리즘은 에피폴라 라인의 매칭점의 유효성을 검사하여 잘못된 매칭값을 버리고 무효한 매칭값은 유효한 값으로부터 보간법으로 산출한다.

• 한국통신학회논문지
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• 제34권10B호
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• pp.1117-1123
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• 2009

DMD(Digital Micro-mirror Device)와 갈바노 스캐너를 이용한 두부 고정형 다초점 디스플레이 시스템은 초점조절이 가능하여 스테레오스코픽 디스플레이에서 발생하는 양안의 수렴작용과 단안의 초점조절 작용의 불일치에 의한 눈의 피로 문제를 해결할 수 있는 디스플레이 시스템이다. 이 시스템은 레이저 스캐닝 방법으로 각 시점에 대한 영상의 수렴점을 형성하여 관찰자 동공에 제공함으로 초점조절이 가능토록 한다. 본 논문에서는 이 다초점 디스플레이 시스템의 레이저 스캐닝 방법을 수학적으로 분석하였고, 이러한 분석에 기반 한 다초점 시스템을 제작하여 비디오카메라를 통하여 초점조절이 가능함을 보였고, 결과적으로 레이저 스캐닝 방법에 의한 다초점 시스템의 시점 형성원리가 검증되었다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.423-427
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• 2002

Contrary to the traditional text-based information, 4S(GIS,GNSS,SIIS,ITS) information can contribute to the citizen's welfare in upcoming era. Recently, GSIS(Geo-Spatial Information System) has been applied and stressed out in various fields. As analyzed the data from GSIS arena, the position information of objects and targets is crucial and critical. Therefore, several methods of getting and knowing position are proposed and developed. From this perspective, Position collection and processing are the heart of 4S technology. We develop 4S-Van that enables real-time acquisition of position and attribute information and accurate image data in remote site. In this study, the configuration of 4S-Van equipped with GPS, INS, CCD and eye-safe laser scanner is shown and the merits of DGPS/INS integration approach for geo-referencing is briefly discussed. The algorithm of DGPS/INS integration fur determination of six parameters of motion is eccential in the 4S-Van to avoid or simplify the complicated computation such as photogrammetric triangulation. 4S-Van has the application of Laser-Mobile Mapping System for three-dimensional data acquisition that merges the texture information from CCD camera. The technique is also applied in the fields of virtual reality, car navigation, computer games, planning and management, city transportation, mobile communication, etc.

• 한국CDE학회논문집
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• 제17권3호
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• pp.156-163
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• 2012

Real-time three-dimensional shape measurement is becoming increasingly important in various fields, including medical sciences, high-technology industry, and microscale measurements. However, there are not so many 3D profile tools specially designed for specifically narrow space, for example, to scan the tooth shape of a human jaw. In this paper, a real-time 3D intraoral scanner is proposed for the measurement of tooth profile in the mouth cavity. The proposed system comprises a laser diode beam, a micro charge-coupled device, a graticule, a piezoelectric transducer, a set of optical lenses, and a polhemus device sensor. The phase-shifting technique is used along with an accurate calibration method for the measurement of the tooth profile. Experimental and theoretical inspection of the phase-to-coordinate relation is presented. In addition, a nonlinear system model is developed for collimating illumination that gives the more accurate mathematical representation of the system, thus improves the shape measurement accuracy. Experiment results are presented to verify the feasibility and performance of the developed system. The experimental results indicate that overall measurement error accuracy can be controlled within 0.4 mm with a variability of ${\pm}0.01$.