• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.197-209
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• 2011

This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.

• Journal of Korean Ophthalmic Optics Society
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• v.10 no.3
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• pp.241-246
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• 2005

The aim of the study was performed the wave analysis of P-VEP on the development of visual function using Netspeg lens in monocular of refraction error subjects. The P-VEP of three channels were recorded by the Bausch Lomb system. Ten adults (five males, five females, mean=22 years, range=19 to 23) subjects were recorded. The subjects were researched the history including the systemic health, medication, genetics, allergy, ocular disease, and so on. Visual acuity and refraction test were performed for each subject with mono vision by using the Netspeg lens. Also subjects viewed the P-VEP stimulus with mono vision through the corrected visual acuity with Netspeg lens during VEP test. The results of study suggest that the mono vision using Netspeg lens is better than with non-Netspeg lens on the visual acuity and image symptom. On the other hand, the analysis of P-VEP suggest that the amplitude of wave is larger when the eye using Netspeg lens receives the P-VEP stimulus compared with the non Netspeg lens. Also, on the wave style of P-VEP, the eye of Netspeg lens was more stable compared with the naked eye. However, on latency period of P-VEP, the eye of non Netspeg lens was more longer than the eye of Netspeg lens. But, on the other hand, the right and left eye have similar results. In conclusion, this study indicated that the visual acuity and visual function of eye of Netspeg lens used have a better than the eye of non-Netspeg lens in Mono Vision.

• Journal of Korean Ophthalmic Optics Society
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• v.19 no.1
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• pp.87-92
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• 2014

Purpose: Comparison with contrast sensitivity between binocular and monocular of 20s adult was measured by spatial frequency 3.0, 6.0, 12.0 and 18.0 cpd and compares difference between monocular and binocular and difference between male and female. Methods: Topcon CV-3000 Phoroptor was used for full correction of 99 ophthalmic optics students and contrast sensitivity were measured by using Vector Vision CSV-1000E at 2.5 m in photopic condition (100 $cd/m^2$). Results: Photopic condition at 2.5 m, average contrast sensitivity of entire subject was 52.54, 80.40, 36.79 and 13.56 with right eye and 52.33, 81.29, 41.73 and 14.22 with left eye in 3, 6, 12 and 18 cpd. For both eye 65.46, 113.69, 52.04 and 19.44 were measured. The contrast sensitivity of male was 58.22, 83.52, 37.89 and 13.82 with right eye and 56.03, 46.68 and 15.67 with left eye in spatial frequency of 3, 6, 12 and 18 cpd. Both eyes were measured to 70.89, 120.96, 56.56 and 19.89. The contrast sensitivity of female was 46.50, 77.09, 35.61 and 13.28 with left eye and 48.40, 70.43, 36.47 and 12.68 with left eye in spatial frequency of 3, 6, 12, 18 cpd. Both eyes were 59.68, 105.97, 47.23 and 18.95. Conclusions: Contrast sensitivity value of binocular shows higher than monocular to both male and female. Contrast sensitivity of difference between male and female were statistically remarkably higher to male in right eye 3 cpd, left eye 6 cpd, 12 cpd and both eye 3 cpd. In other frequency, there was no statistical significance but male shows higher.

• Journal of Korean Ophthalmic Optics Society
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• v.17 no.3
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• pp.311-319
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• 2012

Purpose: One of the critical aspects on dispensing glasses is to match the center of pupils to the optical center of lenses as the mismatched glasses are able to induce uncomfortable effects called prism which has been known to induce phoria, a main cause for asthenopia in many cases. Therefore, we investigated the induced prism occurred by mismatching centers between the center of pupils and the optical center of lenses. Methods: In this study, total 103 subjects were examined whether the center of pupils and the optical center of lenses are matched in horizontal and vertical directions, and then, the data was categorized into 4 groups based on the structural components of glasses. Total amount of prism was compared to show the effect of the glasses frame on the prism induction, and the value of measured prism was compared with the German RAL-RG 915 regulations. Results: The results in respect to the horizontal component showed that the induced prism was not found in 10.7% of total subjects. 73.8% of total subjects were influenced by induced prism, the range of prism was in a tolerance level. However, the 15.5% of total subjects seemed to be influenced by prism which is out of the criterion of tolerance. In case of vertical component, 23.3% of total subjects showed no effects of prism while early adopting glasses, 54.4% of total subjects showed a little prism effect within the criterion of tolerance, and 22.3% of total subjects showed the prism effect out of the tolerance range. This data indicates that group A and B that are less likely adjustable by fitting induce more prism than group C and D in horizontal and vertical components. Conclusions: In higher refractive error condition, it was found that aligning the optical center of lenses with the center of pupils by pre-fitting of glasses frame minimized prism induction in horizontal and vertical components, which ameliorates ocular fatigue. Therefore, appropriate optometric dispensing through fitting by opticians and precise design about monocular PD and monocular Oh are necessary to improve visual perception.

• The KIPS Transactions:PartB
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• v.12B no.3 s.99
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• pp.247-256
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• 2005

One of the classic research problems in computer vision is that of stereo, i.e., the reconstruction of three dimensional shape from two or more images. This paper deals with the problem of extracting depth information of non-rigid dynamic 3D scenes from general 2D video sequences taken by monocular camera, such as movies, documentaries, and dramas. Depth of the blocks are extracted from the resultant block motions throughout following two steps: (i) calculation of global parameters concerned with camera translations and focal length using the locations of blocks and their motions, (ii) calculation of each block depth relative to average image depth using the global parameters and the location of the block and its motion, Both singular and non-singular cases are experimented with various video sequences. The resultant relative depths and ego-motion object shapes are virtually identical to human vision.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.542-551
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• 2005

A new distance measurement method with the use of a single camera and a rotating mirror is presented. A camera in front of a rotating mirror acquires a sequence of reflected images, from which distance information is extracted. The distance measurement is based on the idea that the corresponding pixel of an object point at a longer distance moves at a higher speed in a sequence of images in this type of system setting. Distance measurement based on such pixel movement is investigated. Like many other image-based techniques, this presented technique requires matching corresponding points in two images. To alleviate such difficulty, two kinds of techniques of image tracking through the sequence of images and the utilization of multiple sets of image frames are described. Precision improvement is possible and is one attractive merit. The presented approach with a rotating mirror is especially suitable for such multiple measurements. The imprecision caused by the physical limit could be improved through making several measurements and taking an average. In this paper, mathematics necessary for implementing the technique is derived and presented. Also, the error sensitivities of related parameters are analyzed. Experimental results using the real camera-mirror setup are reported.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.263-269
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• 2008

Visual odometry is a popular approach to estimating robot motion using a monocular or stereo camera. This paper proposes a novel visual odometry scheme using a stereo camera for robust estimation of a 6 DOF motion in the dynamic environment. The false results of feature matching and the uncertainty of depth information provided by the camera can generate the outliers which deteriorate the estimation. The outliers are removed by analyzing the magnitude histogram of the motion vector of the corresponding features and the RANSAC algorithm. The features extracted from a dynamic object such as a human also makes the motion estimation inaccurate. To eliminate the effect of a dynamic object, several candidates of dynamic objects are generated by clustering the 3D position of features and each candidate is checked based on the standard deviation of features on whether it is a real dynamic object or not. The accuracy and practicality of the proposed scheme are verified by several experiments and comparisons with both IMU and wheel-based odometry. It is shown that the proposed scheme works well when wheel slip occurs or dynamic objects exist.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.379-381
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• 2008

본 논문에서는 가정용 비디오 게임에 사용 가능한 고속의 저가형 모션캡쳐, 시스템에 사용되는 전 방향 특성을 갖는 IR 능동 마커의 개발을 목표로 하고 있다. 현재 영화나 게임에서 모션캡쳐를 응용한 시스템 및 컨텐츠들이 많이 선보기고 있으며, 인기를 모으고 있는 추세이다. 이러한 흐름에 맞추어 우리는 이미 저가이면서 속도가 빠른 PSD(Position Sensitive Detector) 센서를 이용만 스테레오 비젼 기반의 PSD 모션캡쳐 시스템(Stereo vision based PSD motion capture system)과 광량 보정 기반의 단일 PSD 모션캡쳐 시스템(Intensity Calibration based single PSD motion capture system) 그리고 일정간격의 두 능동마커 기반의 단안 PSD 모션캡쳐 시스템(Two active markers at fixed distance based single PSD motion capture system)등을 소개한 바 있다. 본 논문에서 제안하는 전방향 특성을 갖는 IR 능동 마커는 일정간격의 두 능동마커 기반의 단안 PSD 모션캡쳐 시스템에 적용하여 보다 정밀한 3차원 좌표 측정을 할 수 있도록 한다. 이를 위해 본 논문에서는 동일 특성을 갖는 마커를 제작하고 평가하여 일정간격의 두 능동마커 기반의 단안 PSD 모션캡쳐 시스템에 적합한 마커의 제작 방법을 제안하였다.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.4
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• pp.512-519
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• 2012

This paper proposes a 3-D pose (positions and orientations) estimation system based on the recognition of circular ring patterns. To deal with monocular vision-based pose estimation problem, we specially design a circular ring pattern that has a simplicity merit in view of object recognition. A pose estimation procedure is described in detail, which utilizes the geometric transformation of a circular ring pattern in 2-D perspective projection space. The proposed method is evaluated through the analysis of accuracy and precision with respect to 3-D pose estimation of a quadrotor-type vehicle in 3-D space.