• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.15-23
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• 2007

In surveillance, monitoring, and target tracking operations, high-resolution images should be obtained even if the target is in a far distance. Frequent movements of vehicles such as boats degrade the image quality of onboard camera systems. Therefore, stabilizer mechanisms are required to stabilize the line of sight of boatboard camera systems against boat movements. This paper addresses design and implementation of a strapdown boatboard camera stabilizer. A two degree of freedom(DOF)(pan/tilt) robot performs the stabilization task. The main problem is divided into two subproblems dealing with attitude estimation and attitude control. It is assumed that exact estimate of the boat movement is available from an attitude estimation system. Estimates obtained in this way are carefully transformed to robot coordinate frame to provide desired trajectories, which should be tracked by the robot to compensate for the boat movements. Such a practical robotic system includes actuators with fast dynamics(electrical dynamics) and has more degrees of freedom than control inputs. Backstepping method is employed to deal with this problem by extending the control effectiveness.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.601-607
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• 2012

The recognition of elevator door is needed for mobile service robots to moving between floors in the building. This paper proposed the sensor fusion approach using LRF (Laser Range Finder) and camera to solve the problem. Using the laser scans by the LRF, we extract line segments and detect candidates as the elevator door. Using the image by the camera, the door candidates are verified and selected as real door of the elevator. The outliers are filtered through the verification process. Then, the door state detection is performed by depth analysis within the door. The proposed method uses extrinsic calibration to fuse the LRF and the camera. It gives better results of elevator door recognition compared to the method using LRF only.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.195-198
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• 2002

A positron camera, consisting of a pair of Anger-type scintillation detectors, has been developed for verifying the ranges of irradiation beams in heavy-ion radiotherapy. Images obtained by a centroid calculation of photomultiplier outputs exhibit a distortion near the edge of the crystal plane in an Anger-type scintillation detector. The images of a $\^$68/Ge line source were detected and look-up tables were prepared for the position correction parameters. Asymmetry of the position distribution detected by the positron camera was prevented with this correction. As a result, a linear position response and a position resolution of 8.6 mm were obtained over a wide measurement field.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.78-86
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• 2014

This paper proposes a method of tracking an object for a person-following mobile robot by combining a monocular camera and a laser scanner, where each sensor can supplement the weaknesses of the other sensor. For human-robot interaction, a mobile robot needs to maintain a distance between a moving person and itself. Maintaining distance consists of two parts: object tracking and person-following. Object tracking consists of particle filtering and online learning using shape features which are extracted from an image. A monocular camera easily fails to track a person due to a narrow field-of-view and influence of illumination changes, and has therefore been used together with a laser scanner. After constructing the geometric relation between the differently oriented sensors, the proposed method demonstrates its robustness in tracking and following a person with a success rate of 94.7% in indoor environments with varying lighting conditions and even when a moving object is located between the robot and the person.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.2
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• pp.61.2-61.2
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• 2010

CQUEAN (Camera for Quasars in EArly uNiverse) is an optical CCD camera system which has its own auto-guiding system. Guiding system consists of a 1k*1k CCD camera, FLI PL1001E, a flat mirror to feed the image of an off-axis field to the camera and baffle. The whole system lies on a moving arm which rotates 90 degree effectively to enlarge the field of view. A motor, IMS MDRIVE 34, and a differential decelerator, APEX AD140-050, are used for the moving mechanism. Auto-guiding is controlled by Agdr program. We had a first light from Aug. 10 to Aug 17, 2010 at McDonald Observatory, USA. In this presentation, we describe about the auto-guiding system for CQUEAN and its performance on the 2.1m telescope.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.659-663
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• 2009

In this paper, we propose a rectification method that can convert ray space data obtained by controlled camera array to ideal data. Here, Ideal data is obtained by getting longitudinal and transversal epipolar line between cameras vertical and horizontal. However it is actually difficult to arrange cameras strictly because we arrange cameras by hand. As conventional method, we have use camera-calibration method. But if we use this method there are some errors on the output image. When we generate arbitrary viewpoint images this error is critical problem. We focus attention on ideal trajectory of characteristic point. And to minimize the error directly we parallelize the real one. And we showed usefulness of proposed technique. Then using the proposed technique, we were successful reducing the error to less than 0.5 pixels.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.456-459
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• 2013

Even though a dual lens stereoscopic camera allows for convenient stereoscopic photography, the necessity for the research comes up, since the dual lens stereoscopic camera can cause visual discomfort during zoom-in due to the fixed convergence point. We propose a method based on which a convergence point can be adjusted to prevent visual discomfort during zoom-in for a dual lens stereoscopic camera. First, the relational model is classified into nine kinds and defined, depending on locations of focus, object, and convergence point. And then, the method to minimize visual discomfort is suggested by adjusting convergence point on the given model. We also implement the suggested methods with anaglyph computer graphic and demonstrate the superiority of them.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.12 no.2
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• pp.173-180
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• 1994

One can see more and more photograrmmetric applications dealing with the extraction of information from images obtained with CCD (Charge Coupled Device) camera scanners. In order for this information to be useful, the scanning errors of scanners must be known through a calibration. Investigation of this study is given to the detailed procedure of the correction for scanning errors created during the scanning of photographs with CCD camera scanner using the three kinds of high resolution reseal plates prepared. The geometric corrected digital images for scanning errors were generated and the accuracy of the resulting new images for each types of plates were checked comparing its image coordinates with there corresponding ground coordinates for the check points.

• Korean Journal of Remote Sensing
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• v.31 no.2
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• pp.171-182
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• 2015

We propose a camera system to acquire indoor stereo omni-directional images and its calibration method. These images can be utilized for indoor precise mapping and sophisticated imagebased services. The proposed system is configured with a rotating stereo line camera system, providing stereo omni-directional images appropriate to stable stereoscopy and precise derivation of object point coordinates. Based on the projection model, we derive a mathematical model for the system calibration. After performing the system calibration, we can estimate object points with an accuracy of less than ${\pm}16cm$ in indoor space. The proposed system and calibration method will be applied to indoor precise 3D modeling.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.6
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• pp.563-570
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• 2014

This paper purposes on stimulating the dynamic behavior of a floating structure model with the image processing and the close-range photogrammetry, instead of the contact sensors. Previously, the movement of structures was presented by the exterior orientation estimation from a single camera following the space resection. The inverse resection yields to 6 orientation parameters of the floating structure, with respect to the camera coordinates system. The single camera solution of interest in applications is characterized by the restriction in terms of costs, unfavorable observation conditions, or synchronization demands when using multiple cameras. This paper discusses the theoretical determinations of camera exterior orientation by using the least squares adjustment, applied of the values from the DLT (Direct Linear Transformation) and the photogrammetric resection. This proposed method is applied to monitor motions of a floating model. The results of 6DOF (Six Degrees of Freedom) from the inverse resection were signified that applying appropriate initial values from DLT in the least square adjustment is effective in obtaining precise exterior orientation parameters. Therefore, the proposed method can be concluded as an efficient solution to simulate movements of the floating structure.