• Journal of Korean Ophthalmic Optics Society
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• v.18 no.4
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• pp.495-501
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• 2013

Purpose: This study was to develop golf range finder which could measure exact distance from golfer to flag by using telescope and biprism. Methods: Golf range finder was made that included telescope and biprism which could move in the telescope, and an accuracy of the range finder was analyzed in distance range 20~200 m. Results: An equation was made for measuring distance which was related at position of biprism, and we could measure distance successfully by using developed golf range finder. Biprism of 2 ${\Delta}$ was useful to measure in short distance but it had bad accuracy in long distance, and 0.5 ${\Delta}$ was more useful in long distance. Image got worse when the biprism approch to focal point of objective lens for measurement in long distance, so we developed multi-layer biprism to prevent the weak point. Conclusions: Image stabilization by biprism for measuring distance was confirmed. Even if hand was moving, the distance could be measured well by using biprism, and we could find that the induced equation for distance measurement was useful. We found that multi-layer biprism, which is was new developed, was more useful than general biprism when the biprism approched to focal point of objective lens for measurement in long distance.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.53-60
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• 1998

We develope a high repetition rate, short distance, optical range finder for surface roughness measurements of large structures, such as a highway road, etc. For range measurement based on a triangulation principle, we use a light emitting diode and an one dimensional Position sensitive photodetector for a light source and an angle detector of the reflected light at the object, respectively. The range finder has automatic power control and electrical background noise rejection capabilities which enable it to overcome variations of an object reflectance and to eliminate time-varying, as well as constant, background light noises. Our experimental results show less than ${\pm}1.5mm$ of measurement errors regardless of an object reflectance, for $22{\sim}38cm$ object ranges which are determined by considering the installation of the range finder and the depth of surface roughness.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.6
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• pp.530-542
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• 2005

We proposed a robust localization algorithm for mobile robots using LRF. A novel cost function for localization is suggested, which was used for calculating correct rotation angle and translation vector. We examined validity of our algorithm with various simulations and experiments, and also revealed robustness and accuracy compared to previous localization algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.87-90
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• 1987

This paper gives the Sonic Range Finder(SRF) Array which detects the unknown obstacles on the mobile robot's path. This SRF Array gives mobile robot's circumstance information wider, processes and transfers them to the locomotion module to construct the modify path. In this system, 8 pairs of the 40 KHz ultrasonic sensors constitute the SRF Array, including a pair of reference sensors to correct the errors, 4051 analog multiplexer and demultiplexer swtch the sensor with time and 8031-on chip micro computer controls processes the data and communication the others.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.2
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• pp.52-62
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• 1997

To reconstruct the complete 3-D shape of an object, seveal range images form different viewpoints should be merged into a single model. The process of extraction of the transformation parameters between multiple range views is calle dregistration. In this paper, we propose a new algorithm to find the transformation parameters between multiple range views. Th eproposed algorithm consists of two step: initial estimation and iteratively update the transformation. To guess the initial transformation, we modify the principal axes by considering the projection effect, due to the difference fo viewpoints. Then, the following process is iterated: in order to extract the exact transformation parameters between the range views: For every point of the common region, find the nearest point among the neighborhood of the current corresponding point whose correspondency is defined by the reverse calibration of the range finder. Then, update the transformation to satisfy the new correspondencies. In order to evaluate the performance the proposed registration algorithm, some experiments are performed on real range data, acquired by space encoding range finder. The experimental results show that the proposed initial estimation accelerate the following iterative registration step.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.4
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• pp.152-159
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• 2007

In this paper, a new design technique on the LRF which is useful for low power laser and a CBDA(Cummulative Binary Detection Algorithm) is proposed. The LD(Laser Diode) and Si-APD(Silicon Avalanche Photo Diode) are used for saving a power. In order to prove the detection range, the Si-APD binary data are accumulated before the range computation and the range finding algorithm. A prototype of the proposed DLRF(Diode Laser Range Finder) system was made and tested. An experimental result shows that the DLRF system have the same detection range using a less power(almost 1/32) than an usual military LRF. The proposed DLRF can be applied to the Unmanned Vehicles, Robot and Future Combat System of a tiny size and a low power LRF.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.4
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• pp.351-358
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• 2013

We propose a correction method of nonlinear frequency sweep in an FMCW(Frequency Modulated Continuous Wave) laser range finder. FMCW laser range finder requires linear frequency sweep for high resolution, and nonlinear frequency sweep makes the system performance degrade. In general, VCO(Voltage Controlled Oscillator) which is a component used for frequency modulation in FMCW method has nonlinear property. To correct the nonlinear frequency sweep, we utilize an auxiliary delay structure for generating trigger signal of ADC(Analog to Digital Converter). Because the trigger signal has same rate of change with the beat signal, the nonlinearity of the beat signal can be corrected. the experimental results show that the proposed method effectively eliminates the nonlinear frequency sweep problem and enhances the system performance.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.265-272
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• 2019

For tracking a varying number of people using laser range finder, it is important to deal with appearance/disappearance of people due to various causes including occlusions. We propose a method for tracking people with automatic initialization by integrating observations from laser range finder. In our method, the problem of estimating 2D positions and orientations of multiple people's walking direction is formulated based on a mixture kalman filter. Proposal distributions of a kalman filter are constructed by using a mixture model that incorporates information from a laser range scanner. Our experimental results demonstrate the effectiveness and robustness of our method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.121-126
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• 2002

This paper introduces a method that can get information for the movement of a spreader and skew in order to drive ALS(Automatic Landing System) in the crane used at the harbor. Some methods that use 3D laser scanner sensor or laser range finder to obtain the information in ALS are used presently. But these have some defects respectively in economical efficiency and performance. Therefore, to recover these defects, we propose a method acquiring the information for the movement of a spreader and skew using CCD camera for image processing and laser range finder

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1021-1026
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• 1990

Accuracy improvement of a self-mixing semiconductor laser range finder is predicted by simulation, in which the laser modulation current is reshaped to give an ideal triangular waveform of the optical frequency change. The maximum range measurement error of less than 0.1% in a wide range of O.1m to 1m is expected by the reshaping of the modulation current. Experimental verification of the effect of current reshaping on the linearization of the derivative of the optical frequency change curve is given.