• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1003-1007
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• 2015

Depth calibration is a procedure for finding the conversion function that maps disparity data from a depth-sensing camera to actual distance information. In this paper, we present an optimal depth calibration method for Kinect$^{TM}$ sensors based on an experimental design and convex optimization. The proposed method, which utilizes multiple measurements from only two points, suggests a simplified calibration procedure. The confidence ellipsoids obtained from a series of simulations confirm that a simpler procedure produces a more reliable calibration function.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1994-1998
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• 2005

Characteristic analysis of the depth measurement system with a laser, a camera and a rotating mirror has been done and the parameter calibration technique for it has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance. The calibration techniques to minimize the effect of such major parameters are proposed.

• 한국진공학회지
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• 제10권2호
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• pp.225-233
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• 2001

Oxygen flooding을 이용한 Secondary ion Mass Spectrometry(SIMS) 분석에 있어서 표면에 산화막이 있을 때 발생하는 SIMS depth profile의 왜곡현상에 대한 원인을 분석하고 이를 보정하였다. 이러한 왜곡현상은 표면 산화막에서와 Si 매질에서의 sputter rate이 다른 데서 발생하는 깊이 보정 오류와 상대감도인자(relative sensitivity factor, RSF)가 다른 데서 발생하는 농도보정 오류로부터 발생됨이 밝혀졌다. 깊이보정 오류를 바로잡기 위하여 $N^a+$ 이온을 산화막과 Si 매질의 계면에 대한 marker로 사용하였으며 산화막 두께는 SEM 및 XPS로 측정하였다. 산화막과 Si 매질에서의 sputter rate 및 RSF의 차이는 주로 oxygen flooding이 유발한 산화막 형성시의 부피팽창에 의한 것으로 해석되었으며 이를 보정한 depth profile은 oxygen flooding없이 분석한 경우와 거의 동일한 결과를 보여주었다.

• 수산해양기술연구
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• 제28권3호
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• pp.252-261
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• 1992

The accuracy of the position fixing with telemetry techniques depends in general on the accuracy of the location of the receiving point(hydrophone). To increase the accuracy of the coordinates of four hydrophones suspended down at both sides of the vessel anchored, each hydrophone motion is compensated using a depth pinger mounted on the seabed of 30m depth. The pinger location is calculated with a hyperbolic method. Using this technique so called hydrophone coordinates calibration, the movement of the Remotely Operated Vehicle(ROV), which has the same type of pinger mentioned above could be tracked down more accurately. Under the maximum variation ranges of a hydrophone of 5.2m in athwartships, 3.2m in alongship, and about 0.2m/s of the moving velocity in both directions, the ROV track with calibration is more close to the reality than that without calibration Tow depth pingers of same frequency can be distinguished by the use of three factors; The pulse period, the phase and the pulse period variation allowed in acquisition of the pinger as far as its pulse period is varied in smooth.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2006년도 영호남 합동 학술대회 및 춘계학술대회 논문집 센서 박막 기술교육
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• pp.125-129
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• 2006

The analysis of the depth measurement system with multi-sensors (laser, camera, mirror) has been done and the parameter calibration technique has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2017년도 제48회 춘계학술대회논문집
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• pp.1140-1141
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• 2017

SWASH형 시험선의 제어 시스템에 입력 값으로 사용되는 심도 값은 초음파 센서를 통해 측정한다. 선수부에 부착한 초음파 센서를 통해 수면과의 거리를 측정하여 시험선의 무게중심까지의 거리를 단순히 계산 할 수 있지만, 시험선의 자세와 초음파 센서로 측정한 값에 대한 기하학적 관계를 함께 적용해야만 시험선의 정확한 심도를 예측 할 수 있다. 본 연구에서는 초음파 센서와 시험선의 자세 값을 이용한 SWASH형 시험선의 심도를 보정해주는 방법을 소개한다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제3권8호
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• pp.309-314
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• 2014

물체의 360도 방향에서 다수의 RGB-D(RGB-Depth) 카메라를 이용하여 깊이영상을 획득하고 3차원 모델을 생성하기 위해서는 RGB-D 카메라 간의 3차원 변환관계를 구하여야 한다. 본 논문에서는 구형 물체를 이용하여 4대의 RGB-D 카메라 사이의 변환관계를 간편하게 구할 수 있는 시점보정(view calibration) 방법을 제안한다. 기존의 시점보정 방법들은 평면 형태의 체크보드나 코드화된 패턴을 가진 3차원 물체를 주로 사용함으로써 패턴의 특징이나 코드를 추출하고 정합하는 작업에 상당한 시간이 걸린다. 본 논문에서는 구형 물체의 깊이영상과 사진영상을 동시에 사용하여 간편하게 시점을 보정할 수 있는 방법을 제안한다. 우선 하나의 구를 모델링 공간에서 연속적으로 움직이는 동안 모든 RGB-D 카메라에서 구의 깊이영상과 사진영상을 동시에 획득한다. 다음으로 각 RGB-D 카메라의 좌표계에서 획득한 구의 3차원 중심좌표를 월드좌표계에서 일치되도록 각 카메라의 외부변수를 보정한다.

• 한국정밀공학회지
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• 제23권9호
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• pp.111-118
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• 2006

A hybrid focus method with multiple laser slits is newly proposed for the measurement of surface morphology with depth discontinuity, and it is based on the integration of DFB and DFF. Rough depth information is estimated through calibration tables which are constructed by DFD with multiple laser slits, and then DFF is applied to only each specific depth range using the rough depth information resulting from DFD. The proposed hybrid method gives more accurate results than DFD and DFF, and faster measurement than DFF in the vicinity of depth discontinuity Its performance is verified through experiments of calibration blocks with sharp depth discontinuity.

• 대한조선학회논문집
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• 제58권6호
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• pp.382-390
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• 2021

The present study suggests the application of a depth camera for wave height field measurement, focusing on the calibration procedure and test setup. Azure Kinect system is used to measure the water surface elevation, with a field of view of 800 mm × 800 mm and repetition rate of 30 Hz. In the optimal optical setup, the spatial resolution of the field of view is 288 × 320 pixels. To detect the water surface by the depth camera, tracer particles that float on the water and reflects infrared is added. The calibration consists of wave height scaling and correction of the barrel distortion. A polynomial regression model of image correction is established using machine learning. The measurement results by the depth camera are compared with capacitance type wave height gauge measurement, to show good agreement.

• Nuclear Engineering and Technology
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• 제52권7호
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• pp.1452-1461
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• 2020

A triple bubbler sensor was tested in LiCl-KCl molten salt from 450 to 525 ℃ in a transparent furnace to validate thermal-expansion corrections and provide additional molten salt data sets for calibration and validation of the sensor. In addition to these tests, a model was identified and further developed to accurately determine the density, surface tension, and depth from the measured bubble pressures. A unique feature of the model is that calibration constants can be estimated using independent depth measurements, which allow calibration and validation of the sensor in an electrorefiner where the salt density and surface tension are largely unknown. This model and approach were tested using the current and previous triple bubbler data sets, and results indicate that accuracies are as high as 0.03%, 4.6%, and 0.15% for density, surface tension, and depth, respectively.