• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.537-542
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• 2015

The measurement of 3D shape is important in inspecting the quality of product. In this paper, we present a 3D shape measurement system of fastener using a camera and a slit laser. Calibration structure with slits is used in the extrinsic calibration of the camera and laser. The pose of the camera and laser is computed under the same world coordinate system in the calibration structure. Reflection of laser light on the metal surface causes many difficulties in the robust detection of them on image. We overcome this difficulty by using color and dynamic programming. Motor stage is used to rotate the fastener to recover the whole 3D shape of the surface of it.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• Proceedings of the KAIS Fall Conference
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• 2004.11a
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• pp.234-239
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• 2004

This paper describes preliminary results we have obtained in developing a computer vision system based on active IR illumination for real time gaze tracking for interactive graphic display. Unlike most of the existing gaze tracking techniques, which often require assuming a static head to work well and require a cumbersome calibration process fur each person, our gaze tracker can perform robust and accurate gaze estimation without calibration and under rather significant head movement. This is made possible by a new gaze calibration procedure that identifies the mapping from pupil parameters to screen coordinates using the Generalized Regression Neural Networks (GRNN). With GRNN, the mapping does not have to be an analytical function and head movement is explicitly accounted for by the gaze mapping function. Furthermore, the mapping function can generalize to other individuals not used in the training. The effectiveness of our gaze tracker is demonstrated by preliminary experiments that involve gaze-contingent interactive graphic display.

• 한국정보디스플레이학회:학술대회논문집
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• 2003.07a
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• pp.157-162
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• 2003

Piezoelectric ink jet offers a promising combination of productivity, reliability and uniformity that are appropriate for jetting organic electronic materials. Spectra is manufacturing a printhead specifically for display manufacturing. This printhead contains a robust material set and is intended to allow calibration of individual nozzles to meet uniformity requirements of+/-2% for display manufacture.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.560-568
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• 2000

The aims of this research were to investigate the preprocessing effect of spectrum data on prediction performance and to develop a robust model to predict SSC in intact apple. Spectrum data of 320 Fuji apples were measured with the on-line transmittance measurement system at the wavelength range of 550∼1100nm. Preprocess methods adopted for the tests were Savitzky Golay, MSC, SNV, first derivative and OSC. Several combinations of those methods were applied to the raw spectrum data set to investigate the relative effect of each method on the performance of the calibration model. PLS method was used to regress the preprocessed data set and the SSCs of samples, and the cross-validation was to select the optimal number of PLS factors. Smoothing and scattering corection were essential in increasing the prediction performance of PLS regression model and the OSC contributed to reduction of the number of PLS factors. The first derivative resulted in unfavorable effect on the prediction performance. MSC and SNV showed similar effect. A robust calibration model could be developed by the preprocessing combination of Savitzky Golay smoothing, MSC and OSC, which resulted in SEP= 0.507, bias=0.032 and R$^2$=0.8823.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.861-867
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• 2006

This paper presents the robust mobile robot localization method exploiting redundant motion information acquired from three optical mice that are installed at the bottom of a mobile robot in a regular triangular form. First, we briefly introduce a low-cost optical motion sensor, HDNS-2000, and a commercial device driver development tools, WinDriver, to be used in this research. Second, we explain the basic principle of the mobile robot localization using the motion information from three optical mice, and propose the least squares based localization algorithm which is robust to the noisy measurement and partial malfunctioning of optical mice. Third, we describe the development of the experimental optical odometer using three PC optical mice and the user-friendly graphic monitoring program. Fourth, simulations and experiments are performed to demonstrate the validity of the proposed localization method and the operation of the developed optical odometer. Finally, along with the conclusion, we suggest some future work including the installation parameter calibration, the optical mouse remodelling, and the high-performance motion sensor adoption.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.9
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• pp.1060-1069
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• 2019

Pedestrian-based camera self-calibration methods are suitable for video surveillance systems since they do not require complex calibration devices or procedures. However, using arbitrary pedestrians as calibration targets may result in poor calibration accuracy due to the unknown height of each pedestrian. To solve this problem in the real surveillance environments, this paper proposes a novel Bayesian approach. By assuming known statistics on the height of pedestrians, we construct a probabilistic model that takes into account uncertainties in both the foot/head locations and the pedestrian heights, using foot-head homology. Since solving the model directly is infeasible, we use variational Bayesian inference, an approximate inference algorithm. Accordingly, this makes it possible to estimate the height of pedestrians and to obtain accurate camera parameters simultaneously. Experimental results show that the proposed algorithm is robust to noise and provides accurate confidence in the calibration.

• Animal Bioscience
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• v.37 no.7
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• pp.1196-1203
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• 2024

Objective: A study was conducted to quantify the performance differences of the near-infrared spectroscopy (NIRS) calibration models developed with different degrees of hay sample preparations. Methods: A total of 227 imported alfalfa (Medicago sativa L.) and another 360 imported timothy (Phleum pratense L.) hay samples were used to develop calibration models for nutrient value parameters such as moisture, neutral detergent fiber, acid detergent fiber, crude protein, and in vitro dry matter digestibility. Spectral data of hay samples prepared by milling into 1-mm particle size or unground were separately regressed against the wet chemistry results of the abovementioned parameters. Results: The performance of the developed NIRS calibration models was evaluated based on R², standard error, and ratio percentage deviation (RPD). The models developed with ground hay were more robust and accurate than those with unground hay based on calibration model performance indexes such as R² (coefficient of determination), standard error, and RPD. Although the R² of calibration models was mainly greater than 0.90 across the feed value indexes, the R² of cross-validations was much lower. The R² of cross-validation varies depending on feed value indexes, which ranged from 0.61 to 0.81 in alfalfa, and from 0.62 to 0.95 in timothy. Estimation of feed values in imported hay can be achievable by the calibrated NIRS. However, the NIRS calibration models must be improved by including a broader range of imported hay samples in the modeling. Conclusion: Although the analysis accuracy of NIRS was substantially higher when calibration models were developed with ground samples, less sample preparation will be more advantageous for achieving rapid delivery of hay sample analysis results. Therefore, further research warrants investigating the level of sample preparations compromising analysis accuracy by NIRS.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• Journal of Korea Game Society
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• v.5 no.1
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• pp.3-10
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• 2005

In this paper, we propose an infrared LED tacking system called IRED Gun, which is designed for the game gun interface. The conventional systems are practically restricted by physical environment and are not robust to the measurement variations. We suggest the IRED Gun system to solve theses problems. Unlike conventional systems, our tracking system uses three infrared LED lights attached on monitor. Since the coordinate calibration is designed to regulate the detected target coordinates, more accurate aim position is calculated, which enables a game player to interact with a game more reliably. The experimental results verify the feasibility and validity of the calibration method and the infrared LED tacking system.