• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.2
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• pp.16-22
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• 2010

This paper proposes the real-time moving object tracking system UAV using color information. Case of object tracking, it have studied to recognizing the moving object or moving multiple objects on the fixed camera. And it has recognized the object in the complex background environment. But, this paper implements the moving object tracking system using the pan/tilt function of the camera after the object's region extraction. To do this tracking system, firstly, it detects the moving object of RGB/HSI color model and obtains the object coordination in acquired image using the compact boundary box. Secondly, the camera origin coordination aligns to object's top&left coordination in compact boundary box. And it tracks the moving object using the pan/tilt function of camera. It is implemented by the Labview 8.6 and NI Vision Builder AI of National Instrument co. It shows the good performance of camera trace in laboratory environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.103.5-103
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• 2001

This paper presents a visual feedback system that controls a micromanipulator using multiple microscopic vision information. The micromanipulation stations basically have optical microscope. However the single field-of-view of optical microscope essentially limits the workspace of the micromanipulator and low dept-of-field makes it difficult to handle 3D-shaped micro objects. The system consists of a stereoscopic microscope, three CCD cameras, the micromanipulator and personal computer. The use of stereoscopic microscope which has long working distance and high depth-of-field with selective field-of-view improves the recognizability of 3D-shaped micro objects and provides a method for overcoming several essential limitations in micromanipulation. Thus, visual feedback information is very important in handling micro objects for overcoming those limitations and provides a mean for the ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.99.2-99
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• 2002

Contents 1 In this paper a machine vision system for recognizing and classifying the patterns and marks engraved by die molding or laser marking on glass panel of computer monitor is suggested and evaluated experimentally. The vision system is equipped with a neural network based pattern classifier and searching process based on normalized grayscale correlation and adaptive binarization, which is applicable to the cases in which the segmentation of the pattern area from background using the ordinary blob coloring technique is quite difficult. Inspection process is accomplished via the way of NGC hypothesis and ANN verification. The proposed pattern recognition system is composed of three...

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1094-1098
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• 2013

AVI (Automatic Vision Inspection) systems automatically detect defect features and measure their sizes via camera vision. Defect detection is not an easy process because of noises from various sources and optical distortion. In this paper the acquired images from a TFT panel are enhanced with the adoption of an HVS (Human Visual System). A human visual system is more sensitive on the defect area than the illumination components because it has greater sensitivity to variations of intensity. In this paper we modified an MTF (Modulation Transfer Function) in the Wavelet domain and utilized the characteristics of an HVS. The proposed algorithm flattens the inner illumination components while preserving the defect information intact.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.1
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• pp.41-47
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• 2000

A better tracking performance can be achieved, if visual sensors such as CCD cameras are used in controling a robot manipulator, than when only relative sensors such as encoders are used. However, for precise visual servoing of a robot manipulator, an expensive vision system which has fast sampling rate must be used. Moreover, even if a fast vision system is implemented for visual servoing, one cannot get a reliable performance without use of robust and stable inner joint servo-loop. In this paper, we propose a dynamic control scheme for robot manipulators with eye-in-hand camera configuration, where a dynamic learning controller is designed to improve the tracking performance of robotic system. The proposed control scheme is implemented for tasks of tracking moving objects and shown to be robust to parameter uncertainty, disturbances, low sampling rate, etc.

• ETRI Journal
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• v.26 no.3
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• pp.195-202
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• 2004

In this paper, we propose a visual accessibility technique in an MPEG-21 framework. In particular, MPEG-21 visual accessibility for the colored-visual resource of a digital item is proposed to give better accessibility of color information to people with color vision deficiency (CVD). We propose an adaptation system for CVD as well as a description of CVD in MPEG-21. To verify the usefulness of the proposed method, computer simulations with CVD and color adaptation were performed. Furthermore, a statistical experiment was performed using volunteers with CVD in order to verify the effectiveness of the proposed visual accessibility technique in MPEG-21. Both the experimental and simulation results show that the proposed adaptations technique can provide better color information, particularly to people with CVD.

• Journal of Multimedia Information System
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• v.1 no.1
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• pp.77-85
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• 2014

Usually, the skin pigmentation detection and diagnosis are made by clinicians. In this process it is subjective and non-quantitative. We develop an approach to detect and measure the different pigmentation lesions base on computer vision technology. In the paper we study several usually used skin-detecting color space like HSV, YCbCr and normalized RGB. We compare their performance with illumination influence for detecting the pigmentation lesions better. Base on a relatively stable color space, we propose an approach which is RGB channels vector difference characteristic for the detection. After the object region detection, we also use the difference to measure the difference between the lesion and the surrounding normal skin. From the experiment results, our approach can effectively detect the pigmentation lesion, and perform robustness with different illumination.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.974-978
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• 2013

AVI (Automatic Vision Inspection) systems automatically detect defect features and measure their sizes via camera vision. AVI systems usually report different measurements on the same defect with some variations on position or rotation mainly because different images are provided. This is caused by possible variations from the image acquisition process including optical factors, nonuniform illumination, random noises, and so on. For this reason, conventional area based defect measuring methods have problems of robustness and consistency. In this paper, we propose a new defect size measuring method to overcome this problem, utilizing volume information that is completely ignored in the area based defect measuring method. The results show that our proposed method dramatically improves the robustness and consistency of defect size measurement.

• Transactions of Materials Processing
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• v.8 no.3
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• pp.294-305
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• 1999

A vision-based surface-strain measurement system has been still improved since the authors devel-oped the first version of it. New algorithms for the subpixel measurement and surface smoothing are introduced to improve the accuracy and precision in the present study. The effects of these algorithms are investigated by error analysis. And the equations required to calculate 3D surface-strain of a shell element are derived from the shape function of a linear solid finite-element. The influences of external factors on the measurement error are also examined, and several trials are made to obtain possible optimal condition which may minimize the error.