• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.173.1-173
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• 2001

This paper proposes the methodology in image processing algorithm that estimates the pose of the pipe crawling robot. The pipe crawling robots are usually equipped with a lighting device and a camera on its head for monitoring and inspection purpose. The proposed methodology is using these devices without introducing the extra sensors and is based on the fact that the position and the intensity of the reflected light varies with the robot posture. The algorithm is divided into two parts, estimating the translation and rotation angle of the camera, followed by the actual pose estimation of the robot. To investigate the performance of the algorithm, the algorithm is applied to a sewage maintenance robot.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.100.4-100
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• 2002

For visual navigation, mobile robot can use a stereo camera which has large field of view. In this paper, we propose an algorithm to detect and recognize human face on the basis of such camera system. In this paper, a new coarse to fine detection algorithm is proposed. For coarse detection, nearly face-like areas are found in entire image using dual ellipse templates. And, detailed alignment of facial outline and features is performed on the basis of view- based multiple appearance model. Because it hard to finely align with facial features in this case, we try to find most resembled face image area is selected from multiple face appearances using most distinguished facial features- two eye...

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.4
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• pp.504-510
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• 2003

Simultaneous measurements of turbulent velocity and concentration field in a stirred mixer tank are carried out by using PIV/LIF technique. Instantaneous velocity fields are measured with a 1K$\times$1K CCD camera adopting the frame straddle method while the concentration fields are obtained by measuring the fluorescence intensity of Rhodamine B tracer excited by the second pulse of Nd:Yag laser light. Image distortion due to the camera view-angle is compensated by a mapping function. It is found that the general features of the mixing pattern are quite dependent on the local flow characteristics during the rapid decay of mean concentration. However, the small scale mixing seems to be independent on the local turbulent velocity fluctuation.

• Proceedings of the KSME Conference
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• 2000.11b
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• pp.381-384
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• 2000

Relationships between biochemical phenomena and hemodynamics on human endothelial cells are very important to study the mechanism of atherosclerotic formation and development. The objective of this study is to investigate the flow phenomena around the endothelial cell model by the PIV experiment. The microscopic images of endothelial cells were acquired by a CCD camera to fabricate the shape of endothelial cell. The cell models were fabricated by using a photoforming process. Two consecutive particle images were captured by the CCD camera for the image processing. Conifer powder as the tracing particles was added to water to visualize the flow field. The cross-correlation method was applied fer the image processing of the flow visualization. Pressure and wall shear stress variations on the surfaces of the endothelial cells were calculated to investigate the effects of hemodynamic forces on the morphological changes.

• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.177-180
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• 2002

In this paper, we has been studied self controlled mobile robot system with CCD camera. This system consists of TMS320F240 digital signal processor, step motor, RF module and CCD camera. 2-axis compass and magnetic sensor, we used wireless RF module for movable command transmiting between robot and host PC. This robot go straight until 95 percent filled screen with white color both side from input image. And the robot recognizes obstacle about 95 percent filled something, so it could turn for avoid the obstacle and conclude new path plan. it could get turning angle from 2-axis compass and magnetic sensor.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1907-1910
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• 2003

This paper describes a method of stereo image composition for mixed reality without camera calibration or complicate tracking algorithm. The proposed system tracks the panel which has blob makers, and composes virtual objects naturally using the method of texture mapping which is often used in geological computer graphics mapping when we do mapping 2D computer graphic data or man-made 2D images. The proposed algorithm makes it possible for us to compose virtual data even in the case that the panel is bent. For composing 3D object, the system uses depth information obtained from stereo image so that we do not need cumbersome procedure of camera calibration.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.34D no.7
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• pp.88-96
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• 1997

As the need of automatized system has been increased recently together with the development of industrial and military technologies, the adaptive real-time target detection technologies that can be embedded on vehicles, planes, ships, robots and so on, are hgihly demanded. Accordingly, this paper proposes a novel approach to detect and segment the moving targets using the binary phase extraction joint transform correlator (BPEJTC), the advanced image subtraction filter and convex hull processing. The BPEJTC which was used as a target detection unit mainly for target tracking compensating the camera movement. The target region has been detected by processing the successful three frames using the advanced image subtraction filter, and has become more accurate by applying the developed convex hull filter. As shown by some experimental results, it is expected that the proposed approaches for compensation of the camera movement and segmentationof of target region, can be used for th emissile guiddance, aero surveillance, automatic inspectin system as well as the target detection unit of automatic target recognition system that request adaptive real-time processing.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.190-192
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• 2007

모바일 장치에서 사용하는 카메라 모듈을 가지고 MBA2440 보드에서 WINDOWS CE 운영체제의 디바이스 드라이버를 통하여 카메라 장치로부터 동영상 데이터를 얻어 화면에 표시하고, 여기서 획득된 화면정보를 Nand Flash 메모리에 저장하는 내용을 다룬다. 테스트에 사용된 카메라 모듈은 PIXELPLUS사의 모바일용 초소형 VGA급 30만 화소 카메라로 카메라모듈과 MBA2440보드 사이에 하드웨어적인 부분이 정상 작동하는지 확인을 위하여 펌웨어 상에서 카메라의 동영상 화면을 캡쳐하는 프로그램을 만들고, 이를 FAT File System을 이용하여 Nand Flash에 Image 파일 형태로 저장할 수 있도록 한다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.6
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• pp.768-775
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• 2010

Automotive industry is a major business area in this country and it becomes more and more important. In order to maintain high quality of vehicles, every parts should be inspected. Among them the inspection job of the knuckle bracket holes of the outer tube of shock-absorber has been done manually until now. So, it takes long time and every product can not be inspected. An automatized inspection system was proposed utilizing machine vision technology, which was composed of a slit beam laser, CCD camera, image processing computer, special jig and illuminating back lights. An algorithm which could process images of the laser and bracket holes, then gave the position, radius, roundness of the holes, was developed. This system was applied for the good and no good products and the performance was confirmed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.3
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• pp.669-675
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• 2005

This paper proposes coordinates transformation and calibration algorithm using 3D parabolic coordinate transformation and delta-bar-delta neural algorithm for the omni-directional image captured by catadioptric camera. Experimental results shows that the proposed algorithm has accuracy and confidence in coordinate transformation which is sensitive to environmental variables.