• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1634-1637
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• 2003

Any given object on the motor-driven turntable is pictured from 8 to 72 different views with a digital camera. 3D shape reconstruction is performed with the integrated software called by Scanware from these multiple digital photographs. There are several steps such as configuration, calibration, capturing, segmentation, shape creation, texturing and merging process during the shape reconstruction process. 3D geometry data can be exported to cad data such as Autocad input file. Also 3D image model is generated from 3D geometry and texture data, and is used to advertise the model in the internet environment. Consumers can see the object realistically from wanted views by rotating or zooming in the internet browsers with Scanbull spx plug-in. The spx format allows a compact saving of 3D objects to handle or download. There are many types of scan equipments such as laser scanners and photogrammetric scanners. Line or point scan methods by laser can generate precise 3D geometry but cannot obtain color textures in general. Reversely, 3D image modeling with photogrammetry can generate not only geometries but also textures from associated polygons. We got various 3D image models and introduced the process of getting 3D image model of an internet-connected watchdog robot.

• The korean journal of orthodontics
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• v.50 no.1
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• pp.13-25
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• 2020

Objective: The aim of this study was to compare the accuracy and reliability of measurements performed using two different software programs on digital models generated using two types of plaster model scanners (a laser scanner and a computed tomography [CT] scanner). Methods: Thirty plaster models were scanned with a 3Shape laser scanner and with a Flash CT scanner. Two examiners performed measurements on plaster models by using digital calipers and on digital models by using Ortho Analyzer (3Shape) and Digimodel^® (OrthoProof) software programs. Forty-two measurements, including tooth diameter, crown height, overjet, overbite, intercanine and intermolar distances, and sagittal relationship, were obtained. Results: Statistically significant differences were not found between the plaster and digital model measurements (ANOVA); however, some discrepancies were clinically relevant. Plaster and digital model measurements made using the two scanning methods showed high intraclass coefficient correlation values and acceptable 95% limits of agreement in the Bland-Altman analysis. The software used did not influence the accuracy of measurements. Conclusions: Digital models generated from plaster casts by using laser and CT scanning and measured using two different software programs are accurate, and the measurements are reliable. Therefore, both fabrication methods and software could be used interchangeably.

• Korean Journal of Optics and Photonics
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• v.10 no.2
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• pp.107-113
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• 1999

Low-aberration holographic scanners that eliminate the need for lenses and mirrors promise to greatly reduce the cost of laser printers and image scanners. In this study, a holographic optical element that can simultaneously scan and focus a laser beam is designed with analytic ray tracing method. An analytic and experimental work is conducted in which we investigated the hologram structure and hologon configuration for linear aberration-free scanning. For a prototype scanner, a He-Ne laser is used to manufacture and reconstruct the hologram, and the measured bow is about $\pm$133$\mu\textrm{m}$ and spot size(half-intensity beamwidth) in under 100$\mu\textrm{m}$ for a 300 mm scan length without using a correcting lens or mirror. The diffraction efficiency is about 55$\pm$5%, which is acceptably flat. The experimentally measured results agrees with the computed values. From this fact, we can conclude that the computed results using ray tracing method are practical and useful values, and have a potential for use in high resolution laser printers.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.856-864
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• 2008

This paper describes a vehicle low speed driving assistant (VLDA) system that is composed of laser scanner. This vehicle is designed for following lead vehicle (LV) without driver's operation. The system is made up several component systems that are based on unmanned ground vehicle (UGV). Each component system is applied to use advanced safety vehicle developed to complete UGV system. VLDA system was divided into vehicle control system and obstacle detecting system. The obstacle detecting system calculate distance and angle of LV and transmit these data to vehicle control system using front, left and right laser scanners. Vehicle control system makes vehicle control values such as steering angle, acceleration and brake position and control vehicle's movement with steering, acceleration and brake actuators. In this research, we designed VLDA system like as low speed cruise control system and test it on real road environments.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.385-386
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• 2007

This paper proposes obstacle detection and classification algorithm using a single laser scanner. The proposed algorithm searches the object singular points using a differential equation, and finds obstacle singular points shows a boundary of obstacle. And the proposed algorithm can classify object even if several obstacles overlapped. Simulation results show the feasibility of proposed algorithm using a single laser scanner, not using several laser scanners.

• Korean Journal of Construction Engineering and Management
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• v.17 no.3
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• pp.32-42
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• 2016

In Korea, the absence of BIM use in existing civil structures and buildings is driving a demand for as-built BIM. As-built BIMs are often created using laser scanners that provide dense 3D point cloud data. Conventional static laser scanning approaches often suffer from limitations in their operability due to the difficulties in moving the equipment, the selection of scanning location, and the requirement of placing targets or extracting tie points for registration of each scanned point cloud. This paper aims at reducing the manual effort using a kinematic 3D laser scanning system based on graph-based simultaneous localization and mapping (SLAM) for continuous indoor mapping. The robotic platform carries three 2D laser scanners: the front scanner is mounted horizontally to compute the robot's trajectory and to build the SLAM graph; the other two scanners are mounted vertically to scan the profiles of surrounding environments. To reduce the accumulated error in the trajectory of the platform through loop closures, the graph-based SLAM system incorporates AdaBoost loop closure approach, which is particularly suitable for the developed multi-scanner system providing more features than the single-scanner system for training. We implemented the proposed method and evaluated it in two indoor test sites. Our experimental results show that the false positive rate was reduced by 13.6% and 7.9% for the two dataset. Finally, the 2D and 3D mapping results of the two test sites confirmed the effectiveness of the proposed graph-based SLAM.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.39-45
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• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.5
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• pp.125-135
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• 2012

This paper proposes the new object detection system with two laser-scanners and a camera for classifying the objects and predicting the location of objects on road street. This detection system could be applied the new C-ITS service such as ADAS(Advanced Driver Assist System) or (semi-)automatic vehicle guidance services using object's types and precise position. This study describes the some examples in other countries and feasibility of object detection system based on a camera and two laser-scanners. This study has developed the heterogenous sensor's fusion method and shows the results of implementation at road environments. As a results, object detection system at roadside infrastructure is a useful method that aims at reliable classification and positioning of road objects, such as a vehicle, a pedestrian, and obstacles in a street. The algorithm of this paper is performed at ideal condition, so it need to implement at various condition such as light brightness and weather condition. This paper should help better object detection and development of new methods at improved C-ITS environment.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.1
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• pp.621-626
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• 2021

In this study, data on the study site for apartment construction was acquired, and the quantity of construction waste was calculated using a drone and mobile 3D laser scanner. The accuracy of the drone was 0.034 to 0.064m in the horizontal and vertical directions, respectively, and the mobile 3D Laser Scanner showed an accuracy of 0.018 to 0.049m in the horizontal direction, respectively. These results suggest that it is possible to construct spatial information using a drone and mobile 3D laser scanner with a value within the allowable accuracy of 1:1,000 digital terrain. The volume of construction waste calculated using the mobile 3D laser scanner data was 70,797㎥. It was possible to calculate the volume on the side of the building or some facilities that appeared as shaded areas in the drone outcomes. In addition, modeling was performed for view analysis of the apartments scheduled to be constructed and the terrain-based modeling results of the surrounding buildings. In the future, data construction and accuracy evaluation using mobile 3D laser scanners will be conducted. In addition, additional research comparing existing methods and work processes will be carried out, and the efficiency of mobile 3D laser scanners in the field of spatial information construction can be presented.

• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.130-138
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• 2009

Recently, people tracking technology is being required to various area including security application. This paper suggests a method to track people with multiple laser scanners to detect the waist part of human. Multi-target model and Kalman filter based estimation are employed to track the human movement. The proposed method is applied to a novel system to monitor the entrance area and to filter out the trespasser to pass through the door without identification. Experiments for various cases are performed to verify the usefulness of the developed system.