• IEIE Transactions on Smart Processing and Computing
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• 제3권4호
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• pp.195-204
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• 2014

This paper presents the depth evaluation for object detection by automated assembling robots. Pattern distortion analysis from a structured light system identifies an object with the greatest depth from its background. An automated assembling robot should prior select and pick an object with the greatest depth to reduce the physical harm during the picking action of the robot arm. Object detection is then combined with a depth evaluation to provide contour, showing the edges of an object with the greatest depth. The contour provides shape information to an automated assembling robot, which equips the laser based proxy sensor, for picking up and placing an object in the intended place. The depth evaluation process using structured light for an automated electronics assembling robot is accelerated for an image frame to be used for computation using the simplest experimental set, which consists of a single camera and projector. The experiments for the depth evaluation process required 31 ms to 32 ms, which were optimized for the robot vision system that equips a 30-frames-per-second camera.

• 정보처리학회논문지B
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• 제17B권3호
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• pp.215-226
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• 2010

구조광(structured-light)을 이용한 3차원 복원 기술은 카메라 영상과 프로젝터 영상에서 구조광 코드(code)의 일치점을 탐색하고 그 점의 3차원 좌표를 획득하는 기술이다. 일치점의 3차원 좌표를 계산하기위해서는 카메라와 프로젝터의 보정(calibration)이 선행되어야 한다. 또한 복원된 3차원 형상의 정확도는 카메라와 프로젝터의 보정 결과에 영향을 받는다. 기존의 카메라-프로젝터 보정 기술은 고가의 장치를 사용하거나 복잡한 알고리즘을 사용하여 시간과 비용에 대한 효율성이 낮았다. 본 논문에서는 쉽고도 정밀한 카메라-프로젝터 보정 기술을 제안하고자 한다. 제안하는 기술은 복잡한 장치 또는 알고리즘이 필요치 않고 영상처리 기술로만 구현이 가능하기 때문에 3차원 형상복원의 효율성을 높일 수 있다. 두 종류의 카메라-프로젝터 장치에 대한 보정 실험 결과를 보였으며, 보정된 카메라와 프로젝터의 투영 오차 및 월드 기준점의 3차원 복원 오차를 측정하여 제안하는 알고리즘의 정밀도를 분석하였다.

• Journal of Biosystems Engineering
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• 제24권2호
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• pp.159-166
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• 1999

A system to extract continuously the real 3-D geometric fearture information from 2-D image of an object, which is fed randomly via conveyor has been developed. Two sets of structured laser lightings were utilized. And the laser structured light projection image was acquired using the camera from the signal of the photo-sensor mounted on the conveyor. Camera coordinate calibration matrix was obtained, which transforms 2-D image coordinate information into 3-D world space coordinate using known 6 points. The maximum error after calibration showed 1.5 mm within the height range of 103mm. The correlation equation between the shift amount of the laser light and the height was generated. Height information estimated after correlation showed the maximum error of 0.4mm within the height range of 103mm. An interactive 3-D geometric feature extracting software was developed using Microsoft Visual C++ 4.0 under Windows system environment. Extracted 3-D geometric feature information was reconstructed into 3-D surface using MATLAB.

• 전자공학회논문지S
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• 제35S권5호
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• pp.83-93
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• 1998

Three dimensional data acquisition system based on the structured light is developed in this work. The system is composed of a CCD camera, slide projector, and various image processing programs. Calibration procedures and several image processing steps which are necessary to get the rnage data are described. A new grid labeling technique and a grid pattern are devised to improve the accuracy of th eobtained data. Preliminary experimental result shows that the developed system may be used as a simple and cheap 3D data acquisition system. Severla suggestions are included for further research.

• Journal of Welding and Joining
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• 제9권2호
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• pp.20-28
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• 1991

The main subject of this study is the construction of an automatic welding system that has the capability to trace the weld seam in GMA welding of lap joints. The system was composed of a vision sensor, moving torch, and personal computer(IBM-PC). In the developed vision sensor, an image was captured by the frame grabber at the time of short circuit during welding. The threshold method was adopted for determining the structured light and the central difference method for detecting the weld joint. And the seam tracing of the torch was performed by using the data regeneration algorithm. In this system using the image at the time of short circuit, weld seam tracking was performed without any relations to arc light and spatters.

• 한국초등과학교육학회지:초등과학교육
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• 제28권3호
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• pp.245-262
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• 2009

This research was to examine the understandings of elementary school teachers on the phenomena related to light and image, and to survey their perception change related to learning contents of optics. The subjects were selected from the elementary teachers who were enrolled in a graduate course, 'Science education seminar' at an education college located in Chungchungbuk-Do, South Korea. Among the five students who exposed their perceptions clearly in the class, the three of them were selected who agreed to the proposal of the case study. To achieve the purpose of this study, semi-structured interviews following the conception test with the 3 elementary teachers were conducted. During the analysis of the data, additional interviews by phone, e-mail, and internet messenger were conducted if necessary. According to the results, all of the elementary school teachers lacked the scientific conceptions of the phenomena related to light and image. Unfortunately, their learning experiences did not help them to understand the scientific concepts. During the interviews, the teachers recognized the importance of the viewpoints of seeing, image, cognition of light, point light source to understand the phenomena related to light and image.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.483-488
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• 2008

An active omni-directional raging system using an omni-directional vision with structured light has many advantages compared to the conventional ranging systems: robustness against external illumination noise because of the laser structured light and computational efficiency because of one shot image containing $360^{\circ}$ environment information from the omni-directional vision. The omni-directional range data represents a local distance map at a certain position in the workspace. In this paper, we propose a matching algorithm for the local distance map with the given global map database, thereby to localize a mobile robot in the global workspace. Since the global map database consists of line segments representing edges of environment object in general, the matching algorithm is based on relative position and orientation of line segments in the local map and the global map. The effectiveness of the proposed omni-directional ranging system and the matching are verified through experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.300-302
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• 2006

The structured lighting technique is a very accurate depth measurement method. One problem in this technique is that the laser light is invisible very often partly or as a whole caused from occlusion, light absorbtion, and reflection on the surface. If there is no laser light detected on a row of the image frame, the depth could not be computed at the point on the row. In this paper, a Dynamic Programing-based efficient laser line tracking algorithm is proposed to find the most likely line of the laser light utilizing all the possible information of the laser light trace. The performance of the algorithm is shown.

• 한국콘텐츠학회논문지
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• 제13권11호
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• pp.523-532
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• 2013

3차원 공간에서 물체를 재구성하기 위하여 제안된 기존 기법들은 여러 개의 카메라를 사용하거나 여러장의 사진을 촬영하여 물체를 재구성하기 때문에 특정한 하드웨어를 필요로 하거나 촬영 장소에 민감하고 시간이 오래 걸린다는 단점이 있다. 본 논문에서는 유비쿼터스 환경에서 구조광 기법을 이용하여 한 장의 사진의 정보로부터 3차원 물체를 재구성하는 방법을 제안한다. 구조광 기법 적용을 위한 칼라 패턴은 기존연구에서 제안된 것을 사용한다. 본 논문에서는 실제로 객체 재구성 성능에 매우 중요한 줄무늬 패턴 추출과 줄무늬 패턴 매칭에 다양한 영상 처리 기법들로 구성된 파이프라인을 새롭게 제안하고, 패턴 매칭을 위한 최적의 비용 함수를 제안한다. 제안 기법을 통하여 갤럭시 빔과 같은 초소형 프로젝터를 탑재한 스마트폰과 같은 유비쿼터스 혹은 모바일 환경에서 적은 계산 복잡도와 간단한 환경 설정으로 3차원 물체를 재구성하는 것이 가능하다.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.