• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.828-831
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• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• Proceedings of the Optical Society of Korea Conference
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• 2007.07a
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• pp.29-30
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• 2007

• Proceedings of the Optical Society of Korea Conference
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• 2006.02a
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• pp.253-254
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• 2006

• Journal of Astronomy and Space Sciences
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• v.22 no.3
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• pp.273-282
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• 2005

A star sensor daytime observation model is developed in order to test the performance of the star sensor useful for daylight application. The centroid errors of the star sensor in the day time application are computed by using the model. The standard atmospheric model (LOWTRAN7) is utilized to calculate the physical quantities of the daylight atmospheric environments where the star sensor is immersed. This observation model takes the separation angles between the sun and star, the centroid algorithm and the various system specifications of the star sensor into the account. The developed star sensor model will provide more realistic measurement errors in estimating the performance of the attitude determination from the vector observations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.11
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• pp.1043-1051
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• 2007

The digital sun sensor calculates the incident sunlight angle using the sunlight image registered on a CMOS image sensor. In order to accomplish this, an exact center of the sunlight image has to be determined. Therefore, an accurate estimate of the centroid is the most important factor in digital sun sensor development. The most general method for determining the centroid is the thresholding method, and this method is also the simplest and easy to implement. Another centering algorithm often used is the image filtering method that utilizes image processing. The sun sensor accuracy using these methods, however, is quite susceptible to noise in the detected sunlight intensity. This is especially true in the thresholding method where the accuracy changes according to the threshold level. In this paper, a template method that uses the sunlight image model to determine the centroid of the sunlight image is suggested, and the performance has been compared and analyzed. The template method suggested, unlike the thresholding and image filtering method, has comparatively higher accuracy. In addition, it has the advantage of having consistent level of accuracy regardless of the noise level, which results in a higher reliability.

• Korean Journal of Optics and Photonics
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• v.17 no.5
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• pp.383-390
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• 2006

The SharkHartmann wavefront sensors are the most popular devices to measure wavefront in the field of adaptive optics. The Shack-Hartmann sensors measure the centroids of spot irradiance distribution formed by each corresponding micro-lens. The centroids are linearly proportional to the local mean slopes of the wavefront defined within the corresponding sub-aperture. The wavefront is then reconstructed from the evaluated local mean slopes. The uncertainty of the Shack-Hartmann sensor is caused by various factors including the detector noise, the limited size of the detector, the magnitude and profile of spot irradiance distribution, etc. This paper investigates the noise propagation in two major centroid evaluation algorithms through computer simulation; 1st order moments of the irradiance algorithms i.e. center of gravity algorithm, and correlation algorithm. First, the center of gravity algorithm is shown to have relatively large dependence on the magnitudes of noises and the shape & size of irradiance sidelobes, whose effects are also shown to be minimized by optimal thresholding. Second, the correlation algorithm is shown to be robust over those effects, while its measurement accuracy is vulnerable to the size variation of the reference spot. The investigation is finally confirmed by experimental measurements of defocus wavefront aberrations using a Shack-Hartmann sensor using those two algorithms.