• Title/Summary/Keyword: camera pose

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A Model-based 3-D Pose Estimation Method from Line Correspondences of Polyhedral Objects

  • Kang, Dong-Joong;Ha, Jong-Eun
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.762-766
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    • 2003
  • In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.

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Self Ignition Phenomena of High Pressure Hydrogen Released into Tube with Diaphragm Rupture Conditions (튜브 내 누출되는 고압수소의 격막파열조건에 따른 자발점화 현상)

  • Lim, Han Seuk;Lee, Sang Yoon;Lee, Hyoung Jin;Jeung, In-Seuck
    • 한국연소학회:학술대회논문집
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    • 2014.11a
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    • pp.215-218
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    • 2014
  • High combustion efficiency of hydrogen could make it an ideal source of green energy in the future. At this time, high pressure vessel is the most reasonable method of storing hydrogen. However, such a high pressurized vessel could pose a critical threat if ruptured. For this reason, it is important to understand the mechanism of hydrogen's self-ignition when a high-pressure hydrogen released into air. This paper presents several visualization images as experimental results using high-speed camera. From the visualization images, the ignition is initiated near rupture disk immediately after failure of disk. And the initial ignition and flame is stronger as a rupture pressure increases. However, this ignition region do not affect the general self-ignition mechanism when a high-pressure hydrogen is released into air through tue after failure of disk.

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A Study on u-GIS Outdoor Augmented Reality System Development (u-GIS 야외 증강현실 시스템 개발에 관한 연구)

  • Kim, Jeong-Hwan;Kim, Shin-Hyoung;Kil, Woo-Sung
    • Journal of Korea Spatial Information System Society
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    • v.11 no.1
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    • pp.183-188
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    • 2009
  • In this paper, we preset a method for the development of u-GIS outdoor augmented reality(AR) system. The proposed system is consist of three parts. First, sensor acquisition and calibration for AR, Second, camera and sensor based tracking for AR, Third, integration of sensor information and 3D models. We combine spatial information of real and virtual spaces through u-GIS AR system.

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Monocular Vision and Odometry-Based SLAM Using Position and Orientation of Ceiling Lamps (천장 조명의 위치와 방위 정보를 이용한 모노카메라와 오도메트리 정보 기반의 SLAM)

  • Hwang, Seo-Yeon;Song, Jae-Bok
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.2
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    • pp.164-170
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    • 2011
  • This paper proposes a novel monocular vision-based SLAM (Simultaneous Localization and Mapping) method using both position and orientation information of ceiling lamps. Conventional approaches used corner or line features as landmarks in their SLAM algorithms, but these methods were often unable to achieve stable navigation due to a lack of reliable visual features on the ceiling. Since lamp features are usually placed some distances from each other in indoor environments, they can be robustly detected and used as reliable landmarks. We used both the position and orientation of a lamp feature to accurately estimate the robot pose. Its orientation is obtained by calculating the principal axis from the pixel distribution of the lamp area. Both corner and lamp features are used as landmarks in the EKF (Extended Kalman Filter) to increase the stability of the SLAM process. Experimental results show that the proposed scheme works successfully in various indoor environments.

Global Positioning System for Mobile Robot Navigation in an Indoor Environment

  • Park, Soo-Min;Lee, Bong-Ki;Jin, Tae-Seok;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.37.1-37
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    • 2002
  • Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

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A Study On a Lane Keeping Control in a Curved Road and Lane Changing Method to Avoid Collision of a Vehicle

  • Lee, seungchul;Kwangsuck Boo;Jeonghoon Song
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.107.2-107
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    • 2002
  • The objective of this study is to propose a lane changing and keeping method on a curved road for an automatic guidance of a vehicle. It is well known that the speed control of a vehicle in a curved road is essential in terms of vehicle stability and passenger safety because centrifugal force makes a vehicle to be on out of lane. And it is also natural to avoid the collision with other cars or obstructions with keeping the stability and drivability. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net in which not only the state variables, but also the corresponding uncer...

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Development of a visual-data processing system for a polyhedral object recognition by the projection of laser ring beam (다면체 물체 인식을 위한 환상레이져 빔 투사형 시각 정보 처리 시스템 개발)

  • 김종형;조용철;조형석
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.428-432
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    • 1988
  • In this study, some issues on 3- dimentional object recognition and pose determination are discussed. The method employs a laser projector which projects a cyliderical light beam on the object plane where it produces a bright ring pattern. The picture is then taken by a T.V camera. The ring pattern is mathmetically the ellipse of which the geometrical parameters have the 3-dimentional feature of the object plane. This paper gives the mathematical aspects of 3-dimentional recognition method and shows experimentally the variations of ellipse parameters as the spatial deviation of the plane object.

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3D Reconstruction using three vanishing points from a single image

  • Yoon, Yong-In;Im, Jang-Hwan;Kim, Dae-Hyun;Park, Jong-Soo
    • Proceedings of the IEEK Conference
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    • 2002.07b
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    • pp.1145-1148
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    • 2002
  • This paper presents a new method which is calculated to use only three vanishing points in order to compute the dimensions of object and its pose from a single image of perspective projection taken by a camera and the problem of recovering 3D models from three vanishing points of box scene. Our approach is to compute only three vanishing points without this information such as the focal length, rotation matrix, and translation from images in the case of perspective projection. We assume that the object can be modeled as a linear function of a dimension vector ν. The input of reconstruction is a set of correspondences between features in the model and features in the image. To minimize each the dimensions of the parameterized models, this reconstruction of optimization can be solved by the standard nonlinear optimization techniques with a multi-start method which generates multiple starting points for the optimizer by sampling the parameter space uniformly.

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MPEG-U-based Advanced User Interaction Interface Using Hand Posture Recognition

  • Han, Gukhee;Choi, Haechul
    • IEIE Transactions on Smart Processing and Computing
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    • v.5 no.4
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    • pp.267-273
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    • 2016
  • Hand posture recognition is an important technique to enable a natural and familiar interface in the human-computer interaction (HCI) field. This paper introduces a hand posture recognition method using a depth camera. Moreover, the hand posture recognition method is incorporated with the Moving Picture Experts Group Rich Media User Interface (MPEG-U) Advanced User Interaction (AUI) Interface (MPEG-U part 2), which can provide a natural interface on a variety of devices. The proposed method initially detects positions and lengths of all fingers opened, and then recognizes the hand posture from the pose of one or two hands, as well as the number of fingers folded when a user presents a gesture representing a pattern in the AUI data format specified in MPEG-U part 2. The AUI interface represents a user's hand posture in the compliant MPEG-U schema structure. Experimental results demonstrate the performance of the hand posture recognition system and verified that the AUI interface is compatible with the MPEG-U standard.

Pose alignment control of robot using polygonal approximated gripper images (다각 근사화된 그리퍼 영상을 이용한 로봇의 위치 정렬)

  • Park, Kwang-Ho;Kim, Nam-Seong;Kee, Seok-Ho;Kee, Chang-Doo
    • Proceedings of the KSME Conference
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    • 2000.11a
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    • pp.559-563
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    • 2000
  • In this paper we describe a method for aligning a robot gripper using image information. The region of gripper is represented from HSI color model that has major advantage of brightness independence. In order to extract the feature points for vision based position control, we find the corners of gripper shape using polygonal approximation method which determines the segment size and curvature of each points. We apply the vision based scheme to the task of alignment of gripper to reach the desired position by 2 RGB cameras. Experiments are carried out to exhibit the effectiveness of vision based control using feature points from polygonal approximation of gripper.

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