• Journal of the Korean Society of Industry Convergence
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• v.24 no.6_2
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• pp.947-952
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• 2021

In this paper, the simplified kinematic error model for Delta parallel robot is presented, which can enable the analytical forward kinematics essentially for kinematic calibration calculations instead of the numerical one. The simplified kinematic error model is proposed and the forward kinematics including the error parameters is analytically derived. The kinematic calibration algorithm of the Delta parallel robot with 90 degree arrangement using laser tracker and the experiment result are presented.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.4
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• pp.615-618
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• 2021

Recently, 3D reconstruction of real objects with multi-cameras has been widely used for many services such as VR/AR, motion capture, and plenoptic video generation. For accurate 3D reconstruction, geometry and color matching between multiple cameras will be needed. However, previous calibration and correction methods for geometry (internal and external parameters) and color (intensity) correction is difficult for non-majors to perform manually. In this paper, we propose a toolkit with procedural geometry calibration and color correction among cameras with different positions and types. Our toolkit consists of an easy user interface and turned out to be effective in setting up multi-cameras for reconstruction.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.3
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• pp.291-297
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• 2016

Direct georeferencing has become widespread in the field of digital aerial photogrammetry; as a result, the boresight calibration has become an essential component of the procedure to calculating exterior orientation parameters of aerial photographs accurately. During this procedure, a reference is used for the height of the geoid model, and the calibration results can appear different depending on the geoid model. The exterior orientation parameters calculated through direct georeferencing during boresight calibration may have varied values according to the corresponding geoid model. With that in mind, the effects of the geoid model on the boresight calibration were analyzed through three different cases. The geoid models used in the experiments were EGM96, EGM08, and KNGeoid14, and, through boresight calibration, the datum shift and boresight angle for each model was computed. After calculating the exterior orientation of each case, the GCP (Ground Control Point) was verified using the DPW (Digital Photogrammetry Workstation). In each case, results in the boresight calibration acquired through the geoid model demonstrated a difference in the Z datum, the exterior orientation heights Z, and the rotation Ω and Φ. After utilizing the DPW in each case and comparing it to the GCP, the difference in accuracy in accordance with the geoid model was found to be within 3cm, and it was concluded that the geoid model did not have a significant impact on boresight calibration.

• KIPS Transactions on Software and Data Engineering
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• v.4 no.4
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• pp.177-186
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• 2015

For data fusion of laser range finder (LRF) and vision camera, accurate calibration of external parameters which describe relative pose between two sensors is necessary. This paper proposes a new calibration method which can acquires more accurate external parameters between a LRF and a vision camera compared to other existing methods. The main motivation of the proposed method is that any corner data of a known 3D structure which is acquired by the LRF should be projected on a straight line in the camera image. To satisfy such constraint, we propose a 3D geometric model and a numerical solution to minimize the energy function of the model. In addition, we describe the implementation steps of the data acquisition of LRF and camera images which are necessary in accurate calibration results. In the experiment results, it is shown that the performance of the proposed method are better in terms of accuracy compared to other conventional methods.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.2
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• pp.71-79
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• 2009

In this study, a distributed rainfall-runoff model, K-DRUM, based on physical kinematic wave was developed to simulate temporal and spatial distribution of flood discharge considering grid rainfall and grid based GIS hydrological parameters. The developed model can simulate temporal and spatial distribution of surface flow and sub-surface flow during flood period, and input parameters of ASCII format as pre-process can be extracted using ArcView. Output results of ASCII format as post-process can be created to express distribution of discharge in the watershed using GIS and express discharge as animation using TecPlot. an auto calibration method for initial soil moisture conditions that have an effect on discharge in the physics based K-DRUM was additionally developed. The baseflow for Namgang Dam Watershed was analysed to review the applicability of the developed auto calibration method. The accuracy of discharge analysis for application of the method was evaluated using RMSE and NRMSE. Problems in running time and inaccuracy setting using the existing trial and error method were solved by applying an auto calibration method in setting initial soil moisture conditions of K-DRUM.

• Journal of Biosystems Engineering
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• v.17 no.1
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• pp.65-78
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• 1992

When using a computer vision system for a measurement, the geometrically distorted input image usually restricts the site and size of the measuring window. A geometrically distorted image caused by the image sensing and processing hardware degrades the accuracy of the visual measurement and prohibits the arbitrary selection of the measuring scope. Therefore, an image calibration is inevitable to improve the measuring accuracy. A calibration process is usually done via four steps such as measurement, modeling, parameter estimation, and compensation. In this paper, the efficient error calibration technique of a geometrically distorted input image was developed using a neural network. After calibrating a unit pixel, the distorted image was compensated by training CMLAN(Cerebellar Model Linear Associator Network) without modeling the behavior of any system element. The input/output training pairs for the network was obtained by processing the image of the devised sampled pattern. The generalization property of the network successfully compensates the distortion errors of the untrained arbitrary pixel points on the image space. The error convergence of the trained network with respect to the network control parameters were also presented. The compensated image through the network was then post processed using a simple DDA(Digital Differential Analyzer) to avoid the pixel disconnectivity. The compensation effect was verified using known sized geometric primitives. A way to extract directly a real scaled geometric quantity of the object from the 8-directional chain coding was also devised and coded. Since the developed calibration algorithm does not require any knowledge of modeling system elements and estimating parameters, it can be applied simply to any image processing system. Furthermore, it efficiently enhances the measurement accuracy and allows the arbitrary sizing and locating of the measuring window. The applied and developed algorithms were coded as a menu driven way using MS-C language Ver. 6.0, PC VISION PLUS library functions, and VGA graphic functions.

• Magazine of the Korean Society of Agricultural Engineers
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• v.33 no.2
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• pp.51-60
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• 1991

The main objective of this study is to examine the adaptability for the large watershed of the storage tank model which can be applied for the analysis of both long and short terms runoff developed on the basis of hydrologic data for a smaH mountaineous watershed. The results obtained in this study are summarized as follows ; 1. Areal rainfalls of the Dae Chong watershed were calculated by Thiessen method composed of 9 Thiessen networks. 2. Optimal parameters for two types, Model A and Model B of tank models were derived through calibration procedure by standardized Powell method. 3. Monthly simulated flows of Model B are seemed to be closer to the monthly observed than those of Model A during calibration period in the long terms runoff. 4. Relative errors for the simulated flood flows of Model B were apperaed as lower percentage to the observed than those of Model A during calibration period in the short terms runoff. 5. Daily simulated hydrographs of Model B are seemed to be closer to the daily observed than those of Model A during verification period in the long terms runoff. Significance of Model B was highly acknowledged in comparison with Model A in the correlation analysis between annual observed and annual simulated runoff. 6. Reproducibility of simulated flows for Model B is generally seemed to be better than that of Model A during calibration period in the short terms runoff. 7. It can be concluded that reproducibility of Model B is superior to that of Model A in the long and short terms runoff even a large watershed like the result of the small one. 8. It was verified that adaptability for the large watershed of Model B is superior to that of Model A between the two models which were developed by a small watershed characteristics for both long and short terms runoff. 9. Further study for getting a suitable tank model is desirable to be established by the decision, calibration method of initial parameters of tank model and by additional application of another watershed with different watersheds and meterological characteristics.

• Journal of Korean Society for Geospatial Information Science
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• v.23 no.2
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• pp.27-38
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• 2015

In this study, the 3D position coordinates were calculated for the targets using DLT and self-calibration bundle adjustment with additional parameters in close-range photogrammetry. And then, the accuracy of the results were analysed. For this purpose, the results of camera calibration and orientation parameters were calculated for each images by performing reference surveying using total station though the composition of experimental conditions attached numerous targets. To analyze the accuracy, 3D position coordinates were calculated for targets that has been identically selected and compared with the reference coordinates obtained from a total station. For the image coordinate measurement of the stereo images, we performed the ellipse fitting procedure for measuring the center point of the circular target. And then, the results were utilized for the image coordinate for targets. As a results from experiments, position coordinates calculated by the stereo images-based photogrammetry have resulted out the deviation of less than an average 4mm within the maximum error range of less than about 1cm. From this result, it is expected that the stereo images-based photogrammetry would be used to field of various close-range photogrammetry required for precise accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.246-249
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• 2003

The constraints necessary guarantee using the comparison of these extrinsic parameters, which each Rotation matrix and Translation Vector must be equal to the either, except the X-axis Translation Vector. Thus, we can not yet calculate the 3D-range measurement in the end of camera calibration. To minimize this disadvantage, the Epipolar Rectification has been proposed in the literature. This paper aims to present the development of Epipolar Rectification to calibrate Stereo cameras. The required computation of the transformation mapping between points in 3D-space is based on calculating the image point that appears on new image plane by using calibrated parameters. This computation is assumed from the rotating the old ones around their optical center until focal planes becomes coplanar, thereby containing the baseline, and the Z-axis of both camera coordinate to be parallel together. The optical center positions of the new extrinsic parameters are the same as the old camera, whereas the new orientation differs from the old ones by the suitable rotations. The intrinsic parameters are the same for both cameras. So that, after completed calibration process, immediately can calculate the 3D-range measurement. And the rectification determines a transformation of each image plane such that pairs of conjugate Epipolar lines become collinear and parallel to one of the image axis. From the experimental results verify the proposed technique are agreed with the expected specifications.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.2
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• pp.121-126
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• 2004

This paper presents an SAR-data calibration technique using a well-calibrated scatterometer. At first a fully-polarimetric antenna pattern(magnitude and phase) of the antenna main-beam using a conducting sphere was measured. Then, this data were used to calibrate polarimetrically an auto-mounted network analyzer-based scatterometer system. This scatterometer system can be used to measure the accurate Mueller matrices of earth surfaces such as grass fields, rice fields and bare soil surfaces; i.e., the phase-difference parameters can be obtained as well as the radar scattering coefficients. If a polarimetrically calibrated scatterometer is operated at the same time with the SAR system, the scatterometer data can be used to correct the SAR data, especially the phase-difference parameters. It was found that the correction effect is remarkable for the degree of correlation ${\alpha}$, which is one of the phase-difference parameter, while the correction effect is negligible for the magnitude parameters(backscattering coefficients).