• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.361-364
• /
• 1997

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje Shipyard. In order to realize automatic welding system, robots have to be equipped with the sensing system to recognize the position of the welding panels. In this research, a camera vision system is developed to detect the position of base panels for subassembly line in shipbuilding. Two camera vision systems are used in two different stages (Mounting and Welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• Proceedings of the KSRS Conference
• /
• 2002.10a
• /
• pp.518-523
• /
• 2002

Nowadays the Rational Function Model (RFM), an abstract sensor model, is substituting physical sensor models for highly complicated imaging geometry. But RFM is algorithm to be required many Ground Control Points (GCP). In case of RFM of the third order, At least forty GCP are required far RFM generation. The purpose of this study is to research more efficient algorithm on GCP and accurate algorithm similar to RFM. The Polynomial Camera Model is relatively accurate and requires a little GCP in comparisons of RFM. This paper introduces how to generate Polynomial Camera Model and fundamental algorithms for construction of 3-D topographic data using the Polynomial Camera Model information in the Kompsat stereo pair and describes how to generate the 3-D ground coordinates by manual matching. Finally we tried to extract height information for the whole image area with the stereo matching technique based on the correlation.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.62 no.9
• /
• pp.1270-1275
• /
• 2013

A lot of research about camera calibration and lens distortion for wide-angle lens has been made. Especially, calibration for fish-eye lens which has 180 degree FOV(field of view) or above is more tricky, so existing research employed a huge calibration pattern or even 3D pattern. And it is important that calibration parameters (such as distortion coefficients) are suitably initialized to get accurate calibration results. It can be achieved by using manufacturer information or lease-square method for relatively narrow FOV(135, 150 degree) lens. In this paper, without any previous manufacturer information, camera calibration and barrel undistortion for fish-eye lens with over 180 degree FOV are achieved by only using one calibration pattern image. We applied QR decomposition for initialization and Regularization for optimization. With the result of experiment, we verified that our algorithm can achieve camera calibration and image undistortion successfully.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.410-414
• /
• 1996

A visual servoing algorithm is proposed for a robot with a camera in hand. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a, commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.969-970
• /
• 2008

This paper proposes illumination-efficient iris image capturing method. face capture method for extraction of iris pattern with one high resolution camera needs a large scale near infrared illumination. we replace high-resolution camera with co-optic-axial combination between wide view camera and narrow view camera. because this method needs small scale illumination that illuminate only narrow camera viewing angle, we can capture iris pattern image with small scale near infrared illumination.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.42 no.1
• /
• pp.8-13
• /
• 2017

Compare with other communication system based RF technology, Optical Camera Communication (OCC) has limitation on data rate due to the low frame rate of camera. The limitation on data rate can be solved with multiple-input and multiple-output (MIMO) technology; and it is the final target of all researches on OCC. The MIMO topology can be implemented easily without breaking out the architecture of image sensor. For image sensor classification, there are two architectures have been developed: rolling shutter and global shutter. The operation of two techniques is different so the performance is also different. In this paper we analyze and evaluate the performance of the MIMO architecture for OCC.

• Proceedings of the KIEE Conference
• /
• 2008.07a
• /
• pp.1935-1936
• /
• 2008

본 논문은 High speed image를 획득하기 위하여 CMOS Image Sensor를 사용한 고속카메라 구현에 관한 연구이다. Image Sensor로는 CCD Image Sensor와 CMOS Image Sensor가 있으며 CMOS Image Sensor는 CCD Image Sensor에 비해 전력소모가 적고 주변회로의 내장으로 소형화 할 수 있는 장점이 있다. 고속카메라는 충돌 테스트, 에어벡 제어 등의 자동차 분야와 골프 자세 교정 장치와 같은 스포츠 분야, 탄도 방향 측정 장비 등의 국방 분야 등 여러 분야에 많이 사용되고 있다. 본 논문에서 구현한 고속카메라 시스템은 CMOS Image Sensor를 사용하여 1280 * 1024의 해상도로 초당 약 500 frames의 영상을 획득할 수 있다. 또한 CMOS Image Sensor를 제어하고 획득한 이미지를 저장할 수 있도록 FPGA와 DDR2 메모리를 사용하고 저장된 데이터를 PC로 전송하기 위한 Camera Link 모듈 그리고 PC에서 카메라를 제어할 수 있도록 RS-422 통신기능 등으로 구성되었다.

• Journal of IKEEE
• /
• v.22 no.1
• /
• pp.68-73
• /
• 2018

In this paper, we propose an efficient algorithm for mapping a $360^{\circ}$ circular image to a planar image. The proposed algorithm consists of obtaining size of the planar image, calculating the distance between the camera and the planar image, calculating horizontal angle of camera and planar image, calculating vertical angle between camera and planar image, calculating the position of a pixel that matches pixels in a $360^{\circ}$ circular image to pixels in a planar image. Experiments were performed to evaluate the efficient algorithm for mapping the proposed $360^{\circ}$ circular image to the plane image. The reconstruction rate of the mapped plane image was confirmed 99% and the image quality of the mapped plane image was confirmed 72%. Since the results were higher than the standard values of commercial software, the effectiveness of the algorithm was confirmed.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.23 no.5
• /
• pp.463-470
• /
• 2015

When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird's eye view image when the pan angle is compensated.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.9
• /
• pp.2138-2144
• /
• 2015

Multimodal dual camera system has a stereo-like configuration equipped with an infrared thermal and optical camera. This paper presents stereo calibration methods on multimodal dual camera system using a target board that can be recognized by both thermal and optical camera. While a typical stereo calibration method usually performed with extracted intrinsic and extrinsic camera parameter, consecutive image processing steps were applied in this paper as follows. Firstly, the corner points were detected from the two images, and then the pixel error rate, the size difference, the rotation degree between the two images were calculated by using the pixel coordinates of detected corner points. Secondly, calibration was performed with the calculated values via affine transform. Lastly, result image was reconstructed with mapping regions on calibrated image.