• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2581-2584
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• 2003

In this paper, we propose a self-localization algorithm using vertical line segments. Indoor environment is consist of horizontal and vertical line features such as doors, furniture, and so on. From the input image, vertical line edges are detected by an edge operator, Then, line segments are obtained by projecting edge image vertically and detecting local maximum from the projected histogram. From the relation of horizontal position of line segments and the location of the robot, nonlinear equations are come out Localization is done by solving the equations by using Newton's method. Experimental results show that the proposed algorithm using one camera is simple and applicable to indoor environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.180.4-180
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• 2001

This paper describes a vision-based line-tracking system for AGV and steering control scheme. For detect the guideline quickly and exactly, We use four line-points which complement and predict each other. This low-cost line-tracking system is efficiently using PC-based real-time vision processing, Steering control is studied through an steering controller with guide-line angle and line-point error. This method is tested via a typical AGV with a single camera in laboratory environment.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.499-506
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• 2007

The tiny camera module used in a modern cellular phone requires precise assembly processes. To meet the requirement of high resolution and functionality, the number of parts used in a camera module becomes larger and larger. As the market grows rapidly, an automatic camera phone assembly process is required. However, diverse production line and short life cycle make it difficult to build an affordable assembly line. To attack this problem, a flexible and expandable lens assembly system is proposed. To save the manufacturing line set-up time, modular concept is adopted. Also, each module is designed to have intelligence to simplify the set-up process. The assembly system is built up on the standard flat-form that includes a vibration free base, air and electric supplies, and electronic controllers, etc. Furthermore, the assembly cell has the capability of handling tiny, thin, or transparent parts which are very difficult to identify without machine vision.

• Spatial Information Research
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• 제19권1호
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• pp.51-59
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• 2011

라인빙식의 항공디지털 카메라인 ADS 80의 후방(backward)영상으로 정사영성을 제작하고 건물의 기복 변위와 폐색영역을 보정 후, True Ortho Photo을 제작하였다. 또한 제작된 정사영상과 True Ortho-Photo을 검증을 위해 지상검사점, 사진기준점을 이용하여 평면 위치정확도 평가 및 분석한 결과, 프레임방식과 비교하여 상대적으로 소량의 지상기준점을 이용하여 고품질의 정사영상을 제작할 수 있었다. 또한 라인 방식 카메라의 True Ortho Photo 제작 시, 종중복도가 100%이므로 폐색영역 보정시에 효과적임을 검증 할 수 있었다.

• 한국멀티미디어학회논문지
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• 제20권2호
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• pp.225-233
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• 2017

Line-laser beams are used for accurate measurement of 3D shape, which is robust to external illumination. For depth measurement, we project a line-laser beam across an object from the face and take an image of the beam on the object surface using a CCD camera at some angle with respect to the face. For shape measurement, we project parallel line-laser beams with narrow line to line distance. When a layer of thin materials attached to a cylinder is long narrow along its circumference, we can measure the shape of the layer with a small number of parallel line beams if we project line beams along the circumference of the cylinder. Measurement of the depth of the attached materials on a line-laser beam is based on the number of pixels between an imaginary line along the imaginary cylinder without the attached materials and the beam line along the materials attached to the cylinder. For this we need to localize the imaginary line in the captured image. In this paper, we model the shape of the line as an ellipse and localize the line with least square estimate. The proposed method results in smaller error (maximum 0.24mm) than a popular 3D depth camera (maximum 1mm).

• Agricultural and Biosystems Engineering
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• 제6권2호
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• pp.47-53
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• 2005

AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.

• 한국공작기계학회논문집
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• 제11권6호
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• pp.98-104
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• 2002

In this study, we have developed an algorithm by attaching a camera at the end-effector of industrial six-axis robot in order to determine position and orientation of the camera system from cartesian coordinates. Cartesian coordinate as a starting point to evaluate for suggested algorithm, it was easy to confront increase of orientation vector for a linear line point that connects two points from coordinate space applied by recursive least square method which includes previous data result and new data result according to increase of image point. Therefore, when the camera attached to the end-effector has been applied to production location, with a calibration mask that has more than eight points arranged, this simulation approved that it is possible to determine position and orientation of cartesian coordinates of camera system even without a special measuring equipment.

• 한국통신학회논문지
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• 제40권2호
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• pp.380-384
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• 2015

As an extension of Visible Light Communication, Optical Camera Communications (OCC) will be a promising service for smart devices. Especially in line of sight marketing service and indoor localization application, by using camera which exists in smart devices, small amount of data (url link) can be broadcasted or find direction from the illumination system. This paper introduces the operation of wireless communications technology that transmits optical information from optical light source to camera, called Optical Camera Communications.

• 산업경영시스템학회지
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• 제22권49호
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• pp.135-142
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• 1999

The objective of this paper is to provide an automatic color image testing system capable of synthetically testing a color element like a color tone and a luminance for a color image displayed on the screen, using a CCD camera and a microprocess. The system consists of a CCD camera, a line conveyor, a camera driving part, a remocon, a remote sensing part, a display and a PC including a color vision board and a CPU board. By applying the system to a process, reliability for a testing result can be improved and the absolute criterion to judge a part can be made.

• 로봇학회논문지
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• 제11권1호
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• pp.9-18
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• 2016

A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.