• Journal of Biosystems Engineering
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• 제14권2호
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• pp.104-114
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• 1989

The most important subject in developing agricultural robots for fruit harvesting is to detect accurately the location of a fruit about the given coordinate system. This study was carried out to develop an image processing algorithm which enables finding out the three dimensional locations of a fruit. The digital image processing device consisted of an optosensor (Closed-circuit TV camera), image processing interface board (Digitizer) and microcomputer (IBM PC/AT). A stereo-image processing method using the two cameras attached to the manipulator was evaluated through experiment with apples. The accuracy and quickness of detecting the location of apples by this method was not satisfactory. The maximum errors of the detected locations by the stereo-image processing method in x-, Y-, and z- directions were 3, 4 and 4 cm, respectively. The maximum time required to get the rectangular coordinate data of a fruit was about 2 minutes.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 추계학술대회
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• pp.175-178
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• 2010

Slow movement of snail can be a benefit since it means less speed of tracking is required to get accurate movement track, but in the other side it is difficult to extract the object because the snail is almost as static as the background. In this paper, we present a technique to track the snail by using one of its common characteristic, dark color of its shell. The technique needs to be robust to illumination change since the experiment is usually to observe the movement of snail both at bright and dim condition. Snail position coordinate in 3D space is calculated using orthogonal stereo vision which combines the information from two images taken from cameras at the top and in front of the aquarium. Experimental results show this technique does not need prior background image extraction and robust to gradual or sudden illumination change.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.566-571
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• 2009

A calibration method for multiple sets of stereo vision cameras is proposed. To measure the three-dimensional shape of a very long object, measuring the object at different viewpoints and registration of the data are necessary. In this study, two lasers beams generate two strings of calibration targets, which form straight lines in the world coordinate system. An evaluation function is defined to calculate the sum of the squares of the distances between each transformed target and the fitted line representing the laser beam to each target, and the distances between points appearing in the data sets of two adjacent viewpoints. The calculation process for the approximation method based on data linearity is presented. The experimental results show the effectiveness of the method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.495-500
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• 2002

Recently, a service robot industry outstands as an up and coming industry of the next generation. Specially, there are so many research in self-steering movement(SSM). In order to implement SSM, robot must effectively recognize all around, detect objects and make a surrounding map with sensors. So, many robots have a sonar and a infrared sensor, etc. But, in these sensors, We only know informations about between the robot and the object as well as resolution faculty is of inferior quality. In this paper, we will introduce new algorithm that recognizes objects around robot and makes a two dimension surrounding map with a omni-direction vision camera and two stereo vision cameras.

• 디지털산업정보학회논문지
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• 제6권2호
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• pp.119-127
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• 2010

In this paper, we propose a new automatic surveillance tracking system that can extract the target from the complex background and foreground noises by using the image-based SAD algorithm and control the servo motor of cameras by using kanatani algorithm. From the experimental results the proposed stereo tracking system is found to track the target adaptively under the circumstance of complex and changing background noises and the possibility of real-time implementation of the proposed system by using the optical system is also suggested.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2000년도 추계종합학술대회논문집
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• pp.77-80
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• 2000

본 논문에서는 두 대의 디지틀 카메라로 측정한 근거리 차량 스테레오 영상에서 시차(disparity)를 구한 후 전방 차량의 거리를 검출하는 방법을 제시한다. 다중 해상도 특성을 가진 변형된 웨이블릿을 이용하여 차량으로 생각되는 물체의 경계선을 구한다. 이때 전체적인 특징을 고려하고, 정확한 시차를 구하기 위해 점차적으로 해상도를 높이는 coarse to fine 방법을 이용하여 히스토그램을 분석하고 이를 통하여 얻어진 좌, 우 영상의 시차를 이용하여 전방 근거리 차량의 거리를 효과적으로 검출한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.442-444
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• 1996

This paper presents a new image rectification method using stereo image pairs to synthesize arbitrary viewing images. The image rectification is a preprocessing procedure that generates a vertically aligned images and makes epipolar lines collinear. The proposed rectification method has more robustness by considering the real situations such as the mismatch of pan angle, tilt angle and vertical shifting of cameras than previous method[5] which considers only pan angle. We evaluate the proposed method by comparison with previous method using synthesized images.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 1996년도 Proceedings International Workshop on New Video Media Technology
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• pp.35-40
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• 1996

In this paper, a method for 3-D surface reconstruction with two real cameras is presented. The method, which combines the extraction of binocular disparity and its interpolation can be applied to the synthesis of images from virtual viewpoints. The synthesized virtual images are as natural as the real images even when we observe the images as stereoscopic images. The method opens up many applications, such as synthesizing input images for multi-viewpoint 3-D displays, enhancing the depth impression in 2-D images and so on. We also have developed a video-rate stereo machine able to obtain binocular disparity in 1/30 sec with two cameras. We show the performance of the machine.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 추계학술대회 논문집
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• pp.107-108
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• 2011

A methodology to measure 3-dimensional vibrational displacement of a structure by digital photogrammetry is proposed in this paper. Stereo digital images of a vibrating structure were obtained by two non-metric cameras. Then by applying the collinearity condition to the images, the 3-d displacement time history data of a point or many points can be calculated by the present methodology. Experimental work was performed to measure the displacement time history for a cantilever beam excited by a piezoelectric patch, in which the in-depth displacement data obtained by the proposed method well matched the laser sensor data.

• Journal of Biosystems Engineering
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• 제24권1호
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• pp.41-50
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• 1999

This study aims at detecting the three dimensional gripping points for the transplanting robot system to grip in the process of developing transplanting robot system, which is one of the automation systems for transplanting tissue culture. The stereo vision system equipped with two cameras has been used to detect the gripping points of the plant stem. The method for matching the plants of the image information which came from two cameras was to measure the total numbers of pixels, leaves, and the heights of the plants. The gripping points were detected near the roots after extracting the stem parts by the standard deviation of the X axis according to the Y axis. The performance test of the developed program showed that the detecting errors of the gripping points were 0∼1mm for X axis and 1∼2mm for Y & Z axis. The mean running time of the program was about 3 seconds.