• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.6
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• pp.86-96
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• 2010

In this paper, we propose stereo vision-based obstacle detection and vehicle verification methods using U-disparity map and bird's-eye view mapping. First, we extract a road feature using maximum frequent values in each row and column. And we extract obstacle areas on the road using the extracted road feature. To extract obstacle areas exactly we utilize U-disparity map. We can extract obstacle areas exactly on the U-disparity map using threshold value which consists of disparity value and camera parameter. But there are still multiple obstacles in the extracted obstacle areas. Thus, we perform another processing, namely segmentation. We convert the extracted obstacle areas into a bird's-eye view using camera modeling and parameters. We can segment obstacle areas on the bird's-eye view robustly because obstacles are represented on it according to ranges. Finally, we verify the obstacles whether those are vehicles or not using various vehicle features, namely road contacting, constant horizontal length, aspect ratio and texture information. We conduct experiments to prove the performance of our proposed algorithms in real traffic situations.

• Journal of Bio-Environment Control
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• v.10 no.3
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• pp.172-180
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• 2001

A grape fruit is required for a lot of labor to harvest in time in Korea, since the fruit is cut and grabbed currently by hand. In foreign country, especially France, a grape harvester has been developed for processing to make wine out of a grape, not to eat a fresh grape fruit. However, a harvester which harvests to eat a fresh grape fruit has not been developed yet. Therefore, this study was designed and constructed to develope a image processing system for a fresh grape harvester. Its development involved the integration of a vision system along with an personal computer and two cameras. Grape recognition, which was able to found the accurate cutting position in three dimension by the end-effector, needed to find out the object from the background by using two different images from two cameras. Based on the results of this research the following conclusions were made: The model grape was located and measured within less than 1,100 mm from camera center, which means center between two cameras. The distance error of the calculated distance had the distance error within 5mm by using model image in the laboratory. The image processing system proved to be a reliable system for measuring the accurate distance between the camera center and the grape fruit. Also, difference between actual distance and calculated distance was found within 5 mm using stereo vision system in the field. Therefore, the image processing system would be mounted on a grape harvester to be founded to the position of the a grape fruit.

• Journal of Korea Entertainment Industry Association
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• v.14 no.6
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• pp.43-52
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• 2020

This paper is a study of Gustav Deutsch's film (2013). The film transformed the painting of Edward Hopper into an homage film. So it gives the impression that the picture is moving. In this regard, it raises the issue of 'remediation' between film and pictures. In this study, We ask how (2013) dealt with the movement in turning Hopper's paintings into movies. To that end, To this end, we look at two aspects of movement: the actor's movement and the screen's movement. The concepts of "tableau vivant," Agamben's gesture and mediation were used in the process. The actor's movement in the film is not an act of making and developing events. It is a gesture that moves a person's body and expression itself. It is not a story-oriented acting, but a gesture that Giorgio Agamben said. Editing and camera movements are used while maintaining frontality. This suggests that the movement of the screen is the eye of the audience. At first glance, it embodies the voyeuristic gaze of the original work. However, But the audience isn't looking at the image unilaterally, as in mainstream fiction films, but they are also being seen by that image. Also, the camera's movement to take a closer look at the details of the screen shows the movement itself rather than the means to reveal the details. The 'vision of reality' in a film is made through movement. The film questions the vision of reality between painting and film, between words and images. The move is a means of mediating reality, but the film is regaining the "lost gesture" that Giorgio Agamben once said by revealing its mediated nature. This tells us that the vision of reality appears when it obscures its mediated nature.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.628-632
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• 2003

An intelligent miniature humanoid robot system is designed and implemented as a platform for researching walking algorithm. The robot system consists of a mechanical robot body, a control system, a sensor system, and a human interface system. The robot has 6 dofs per leg, 3 dofs per arm, and 2 dofs for a neck, so it has total of 20 dofs to have dexterous motion capability. For the control system, a supervisory controller runs on a remote host computer to plan high level robot actions based on the vision sensor data, a main controller implemented with a DSP chip generates walking trajectories for the robot to perform the commanded action, and an auxiliary controller implemented with an FPGA chip controls 20 actuators. The robot has three types of sensors. A two-axis acceleration sensor and eight force sensing resistors for acquiring information on walking status of the robot, and a color CCD camera for acquiring information on the surroundings. As an example of an intelligent robot action, some experiments on playing soccer are performed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.663-668
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• 2003

This paper presents a new observation system which is useful to observe the scene of the remote controlled robot vision. This system is composed of a motionless camera and head motion detector with a motion sensor. The motionless camera has a fish eye lens and is for observing a hemisphere space. The head motion detector has a motion sensor is for defining an arbitrary subspace of the hemisphere space from fish eye lens. Thus processing the angular information from the motion sensor appropriately, the direction of face is estimated. However, since the fisheye image is distorted, it is unclear image. The partial domain of a fish eye image is selected by head motion, and this is converted to perspective image. However, since this conversion enlarges the original image spatially and is based on discrete data, crevice is generated in the converted image. To solve this problem, interpolation based on an intensity of the image is performed for the crevice in the converted image (space problem). This paper provides the experimental results of the proposed observation system with the head motion detector and perspective image conversion using the proposed conversion and interpolation methods, and the adequacy and improving point of the proposed techniques are discussed.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.5
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• pp.1202-1207
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• 1993

An optical method of slit beam scanning topography is presented for the 3-dimensional profile measurement of free-formed surfaces. A slit beam of laser is projected in a scanning mode and its illuminated trajectory on the object is captured by using a CCD camera. The 3-dimensional coordinates of the trajectory is then computed by using the given geometry between the slit beam and the camera, so that the whole surface profile of the object can be obtained in a successive manner. Detailed optical principles are described with special emphasis to lateral are discussed to demonstrate the measuring performances of the slit beam scanning topography proposed in this study.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.1-6
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• 2008

This paper proposes a game controller that provides user motion input and tactile feedback display, in addition to the traditional button-type input. The device utilizes both an accelerometer and an infrared camera in order to estimate 3D position and to recognize user motion. The information from the accelerometer and the camera are integrated for better performance. Various tactile sensations are presented using a voice-coil type vibrator. We apply the proposed controller to a motion-based game and validate its usability.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.108-113
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• 2017

In this paper, we proposed a three-dimensional(3D) scanning system based on laser vision technique for 3D model reconstruction. The proposed scanning system consists of line laser, camera, and turntable. We implemented the 3D scanning system using low quality elements. Although these are low quality elements, we reduced the 3D data reconstruction errors greatly using two methods. First, we developed a maximum brightness detection algorithm. This algorithm extracts the maximum brightness of the line laser to obtain the shape of the object. Second, we designed a new laser control device. This device helps to adjust the relative position of the turntable and line laser. These two methods greatly reduce the measuring noise. As a result, point cloud data can be obtained without complicated calculations.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.5
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• pp.513-519
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• 2013

Line scan camera has been widely used in the area of inspection of glass, film, fabric, iron, PCB and etc. due to the high resolution and the high speed. We developed the line scan based vision system to inspect tangled and cut-off status of yarn in the manufacturing process. The original image is binarized with a proper threshold, and the gap distances in the yarn are measured in real time, so finally the status of the process is decided by the maximum value of the gap distance. All procedures are executed in real time by realization of multi-processed threads. By implementation of this system, the error of the yarn in manufacturing process can be precedently monitored and the loss of the yarn is decreased efficiently.