• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.8
• /
• pp.73-85
• /
• 1995

The sensor system to measure the distance precisely from the center of the sensor system to the obstacle is needed to recognize the surrounding environments, and the sensor system is to be calibrated thoroughly to get the range information exactly. This study covers the calibration of the active range sensor which consists of camera and laser slit emitting device, and provides the equations to get the 3D range data. This can be possible by obtaining the extrinsic parameters of laser slit emitting device through image processing the slits measured during the constant distance intervals and the intrinsic parameters from the calibration of camera. The 3D range data equation derived from the simple geometric assumptions is proved to be applicable to the general cases using the calibration parameters. Also the exact 3D range data were obtained to the object from the real experiment.

• Smart Media Journal
• /
• v.7 no.2
• /
• pp.15-22
• /
• 2018

Pupil tracking technologies can be used as an efficient information provider means that provides convenience to the user by connecting with a smart device. In this paper, we measure the distance of user gaze point using the pupil tracking device which produced by Pupil-labs, also shows the experimental result with analyzing accuracy and precision. Based on that the pupil gaze point location which tracked by pupil tracking device is compared with object target in terms of error. Since the mobile pupil tracking device is also one kind of camera, we have to perform the calibration before using the device. Not only generally used 2-dimensional calibration, but also 3-dimensional calibration method is explained. To get the improved accuracy of 2-dimensional calibration result, the 3-dimensional calibration set an imaginary plane and executes the calibration in various 3-dimensional spaces. To show the efficiency of 3-dimensional calibration, we analyze the experimental result. It also introduces various using methods and information that can be obtained through the device.

• The Journal of Korea Robotics Society
• /
• v.9 no.3
• /
• pp.160-169
• /
• 2014

Odometry using wheel encoder is a common relative positioning technique for wheeled mobile robots. The major drawback of odometry is that the kinematic modeling errors are accumulated when the travel distance increases. Therefore, accurate calibration of odometry is required. In several related works, various schemes for odometry calibration are proposed. However, design guidelines of test tracks for odometry calibration were not considered. More accurate odometry calibration results can be achieved by using appropriate test track because the position and orientation errors after the test are affected by the test track. In this paper, we propose the design guidelines of test tracks for odometry calibration schemes using experimental heading errors. Numerical simulations and experiments clearly demonstrate that the proposed design guidelines result in more accurate calibration results.

• Journal of the Optical Society of Korea
• /
• v.18 no.6
• /
• pp.746-752
• /
• 2014

In a multi-camera measurement system, the determination of the external parameters is one of the vital tasks, referred to as the calibration of the system. In this paper, a new geometrical calibration method, which is based on the theory of the vanishing line, is proposed. Using a planar target with three equally spaced parallel lines, the normal vector of the target plane can be confirmed easily in every camera coordinate system of the measurement system. By moving the target into more than two different positions, the rotation matrix can be determined from related theory, i.e., the expression of the same vector in different coordinate systems. Moreover, the translation matrix can be derived from the known distance between the adjacent parallel lines. In this paper, the main factors effecting the calibration are analyzed. Simulations show that the proposed method achieves robustness and accuracy. Experimental results show that the calibration can reach 1.25 mm with the range about 0.5m. Furthermore, this calibration method also can be used for auto-calibration of the multi-camera mefasurement system as the feature of parallels exists widely.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.34 no.4
• /
• pp.349-356
• /
• 2016

This study investigates two camera self-calibration approaches, on-site self-calibration and laboratorial self-calibration, both of which are based on self-calibration theory and implemented by using a commercial photogrammetric solution, Agisoft PhotoScan. On-site self-calibration implements camera self-calibration and aerial triangulation by using the same aerial photos. Laboratorial self-calibration implements camera self-calibration by using photos captured onto a patterned target displayed on a digital panel, then conducts aerial triangulation by using the aerial photos. Aerial photos are captured by an unmanned aerial vehicle, and target photos are captured onto a 27in LCD monitor and a 47in LCD TV in two experiments. Calibration parameters are estimated by the two approaches and errors of aerial triangulation are analyzed. Results reveal that on-site self-calibration excels laboratorial self-calibration in terms of vertical accuracy. By contrast, laboratorial self-calibration obtains better horizontal accuracy if photos are captured at a greater distance from the target by using a larger display panel.

• Journal of the Korea Society of Computer and Information
• /
• v.14 no.6
• /
• pp.41-49
• /
• 2009

In this paper, the multi-camera calibration algorithm for optical motion capture system is proposed. This algorithm performs 1st camera calibration using DLT(Direct linear transformation} method and 3-axis calibration frame with 7 optical markers. And 2nd calibration is performed by waving with a wand of known length(so called wand dance} throughout desired calibration volume. In the 1st camera calibration, it is obtained not only camera parameter but also radial lens distortion parameters. These parameters are used initial solution for optimization in the 2nd camera calibration. In the 2nd camera calibration, the optimization is performed. The objective function is to minimize the difference of distance between real markers and reconstructed markers. For verification of the proposed algorithm, re-projection errors are calculated and the distance among markers in the 3-axis frame and in the wand calculated. And then it compares the proposed algorithm with commercial motion capture system. In the 3D reconstruction error of 3-axis frame, average error presents 1.7042mm(commercial system) and 0.8765mm(proposed algorithm). Average error reduces to 51.4 percent in commercial system. In the distance between markers in the wand, the average error shows 1.8897mm in the commercial system and 2.0183mm in the proposed algorithm.

• Journal of radiological science and technology
• /
• v.42 no.6
• /
• pp.435-440
• /
• 2019

This is to study the accuracy of the actual size according to the TOD(table object distance; TOD) change when measuring blood vessels using angiography equipment, and to help the optimal selection of the device used accordingly. Balls similar to the size of common vessels were calibrated with TOD using 30 mm, 20 mm, 10 mm, 5 mm and acrylic phantoms, catheter calibration from 0 cm to 10 cm, 20 cm and 30 cm, respectively. It was measured whether there was a change in the measured value according to the change. The equipment used was GE Innova 3131 IQ equipment, and the image reconstruction method was GE AW4.7 post processing program. Two radiotechnologists were scanned three times by catheter calibration method and 3DRA(3dimension rotational angiography; 3DRA) volume rendering method. The independent sample T-test showed 0.981 (p> 0.05) to verify the significance between the two observers. As a result, in case of catheter calibration, the error rate at TOD 0 mm and 10 mm is within ± 10%, but when the TOD is changed to 20 mm and 50 mm respectively, the tolerance is ± 10% except for 30 mm ball exceeded. On the other hand, 3DRA was included within the tolerance range of ± 10% overall even when the TOD was changed from 0 mm to 50 mm. In the catheter calibration method, the larger the TOD, the larger the error range, and the 3DRA method was able to measure vascular vessels accurately close to the actual measurement without any consideration of the TOD.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.4 no.1
• /
• pp.45-61
• /
• 2010

In the communication channel, the received signal is affected by many factors that can cause errors. These effects mean that received signal strength (RSS) based methods incur more errors in measuring distance and consequently result in low precision in the location detection process. As one of the approaches to overcome these problems, we propose using direction calibration to improve the performance of the RSS-based method for distance measurement, and sequentially a weighted least squares (WLS) method using reliability factors in conjunction with a conventional RSS weighting matrix is proposed to solve an over-determined localization process. The proposed scheme focuses on the features of the RSS method to improve the performance, and these effects are proved by the simulation results.

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2313-2316
• /
• 2004

Accurate calibration effect for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The camera calibration is a necessary procedure for stereo vision-based depth computation. Intra and extra parameters should be obtain to determine the relation between image and world coordination through experiment. One difficulty is in camera alignment for parallel installation: placing two CCD arrays in a plane. No effective methods for such alignment have been presented before. Some amount of depth error caused from such non-parallel installation of cameras is inevitable. If the pixel distance parameter which is one of intra parameter is calibrated with known points, such error can be compensated in some amount and showed the variable experiments for accurate effects.

• Smart Structures and Systems
• /
• v.22 no.6
• /
• pp.643-662
• /
• 2018

One of the methods for investigation of mechanical behavior of materials is numerical simulation. For simulation, its need to model behavior is close to real condition. PFC is one of the rock mechanics software that needs calibration for models simulation. The calibration was performed based on simulation of unconfined compression test and Brazilian test. Indeed the micro parameter of models change so that the UCS and Brazilian test results in numerical simulation be close to experimental one. In this paper, the effect of four micro parameters has been investigated on the uniaxial compression test and Brazilian test. These micro parameters are friction angle, Accumulation factor, expansion coefficient and disc distance. The results show that these micro parameters affect the failure pattern in UCS and Brazilian test. Also compressive strength and tensile strength are controlled by failure pattern.