• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1354-1359
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• 2008

In this paper, we propose a vision based passenger monitoring system for passenger's safety in railway station. Since 2005, Korea Railroad Research Institute (KRRI) has developed a vision based monitoring system, funded by Korean government, for passenger's safety in railway station. The proposed system uses various types of sensors, such as, stereo camera, thermal-camera and infrared sensor, in order to detects danger situations in platform area. Especially, detection process of the system exploits the stereo vision algorithm to improve detection accuracy. The paper describes the overall system configuration and proposed detection algorithm, and then verifies the system performance with extensive experimental results in a real station environment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.1-7
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• 1996

This paper addresses the control problem of a mobile robot supporting a task robot with needs to be positioned precisely. The main difficulty residing in the precise control of a mobile robot supporting a task robot is providing an accurate and stable base for the task robot. That is, the end-plate of the mobile robot which is the base of the task robot can not be positioned accurately without external position sensors. This difficulty is resolved in this paper through the vision information obtained from the camera attached at the end of a task robot. First of all, the camera parameters were measured by using the images of a fixed object captured by the camera. The measured parameters include the rotation, the position, the scale factor, and the focal length of the camera. These parameters could be measured by using the features of each vertex point for a hexagonal object and by using the pin-hole model of a camera. Using the measured pose(position and orientation) of the camera and the given kinematics of the task robot, we calculate a pose of the end-plate of the mobile robot, which is used for the precise control of the mobile robot. Experimental results for the pose estimations are shown.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.177-186
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• 2005

In this Paper. we propose vision-based camera localization technique using 3D information which is created by mapping of DEM and mountain image. Typically, image features for localization have drawbacks, it is variable to camera viewpoint and after time information quantify increases . In this paper, we extract invariance features of geometry which is irrelevant to camera viewpoint and estimate camera extrinsic Parameter through accurate corresponding Points matching by Proposed similarity evaluation function and Graham search method we also propose 3D information creation method by using graphic theory and visual clues, The Proposed method has the three following stages; point features invariance vector extraction, 3D information creation, camera extrinsic Parameter estimation. In the experiments, we compare and analyse the proposed method with existing methods to demonstrate the superiority of the proposed methods.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.10
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• pp.569-574
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• 2003

Computer vision system is broadly adapted like as autonomous vehicle system, product line inspection, etc., because it has merits which can deal with environment flexibly. However, for applying it for that industry, it has to clear the problem that recognize position parameter of itself. So that computer vision system stands in need of camera calibration to solve that. Camera calibration consists of the intrinsic parameter which describe electrical and optical characteristics and the extrinsic parameter which express the pose and the position of camera. And these parameters have to be reorganized as the environment changes. In traditional methods, however, camera calibration was achieved at off-line condition so that estimation of parameters is in need again. In this paper, we propose a method to the calibration of camera using line correspondence in image sequence varied environment. This method complements the corresponding errors of the point corresponding method statistically by the extraction of line. The line corresponding method is strong by varying environment. Experimental results show that the error of parameter estimated is within 1% and those is effective.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.841-844
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• 2005

Computer vision technology can be used to interpret the images captured by web cameras installed on construction sites to automatically quantify the results. This information can be used for quality control, productivity measurement and to direct construction. Steel frame construction is particularly well suited for automatic monitoring as all structural members can be viewed from a small number of camera locations, and three-dimensional computer models of steel structures are frequently available in a standard electronic format. A system is being developed that interprets the 3-D model and directs a camera to look for individual members as regular intervals to determine when each is in place and report the results. Results from a simple lab-scale system are presented along with preliminary full-scale development.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.59-60
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.9-10
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• 2008

• Proceedings of the SAREK Conference
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• 2006.11a
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• pp.109-109
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• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.255-258
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• 1995

Surface profile is an important paramerer to evaluate accuracy of machined worpiece. It is necessary to acquire this data by in-process measurement. Recent researchers have introduced Machine Vision technique to achieve it. But it is difficult to apply it to industry field yet. In this study, in-process measuring system of surface profile is developed using CCD camera. The effect of illuminance according to incident angle is investigated and surface profile from surface tester and illuminance graph are compared experimentally.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.963-970
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• 1989

The navigation problem for a mobile robot is investigated. Specifically, it is proposed that simple guide-marks be introduced and the navigation scheme be generated in conjunction with the guide-marks sensed through camera vision. For autonomous navigation, it was shown that a triple guide-mark system is more effective than a single guide-mark in estimating the position and orientation of mobile robot itself. The navigation system is tested via a mobile robot HERO-I equipped with a single camera in laboratory environment.