• Proceedings of the Korean Society of Computer Information Conference
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• 2012.07a
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• pp.429-432
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• 2012

In this paper, we proposed the algorithm computes the waste volume periodically for the way of waste repository standard. For the construction of safe and clear urban environment, it is necessary that we identify the rubbish waste volume and we know the accuracy volume. After camera calibration, we obtained the point cloud on the surface of the object and took this as the input of the calculation algorithm of the object volume. We proposed the two volume calculation algorithms based on the triangularmeshing methods and verified the validity of the algorithm through simulation and real experiments. The proposed algorithm can be used not only as the volume calculation of the waste repository but also as the general volume calculation of a three dimensional object.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.8
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• pp.671-677
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• 2017

A new INS/Vision integrated navigation system by using multi-vision sensors is addressed in this paper. When the total number of landmark measured by the vision sensor is smaller than the allowable number, there is possibility that the navigation filter can diverge. To prevent this problem, multi-vision concept is applied to expend the field of view so that reliable number of landmarks are always guaranteed. In this work, the orientation of camera installed are 0, 120, and -120degree with respect to the body frame to improve the observability. Finally, the proposed technique is verified by using numerical simulation.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of Korean Society for Geospatial Information Science
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• v.7 no.1 s.13
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• pp.53-63
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• 1999

For the close range digital photogrammetry, multi-step procedures should be embodied in an integrated system. However, it is hard to construct an Integrated system through conventional procedural processing. Using Object Oriented Programming(OOP), photogrammetric processings can be classified with corresponding subjects and it is easy to construct an integrated system lot digital photogrammetry as well as to add the newly developed classes. In this study, the equation of 3-dimensional mathematic model is developed to make an immediate calibration of the CCD camera, the focus distance of which varies according to the distance of the object. Classes for the input and output of images are also generated to carry out the close range digital photogrammetric procedures by OOP. Image matching, coordinate transformation, dirct linear transformation and bundle adjustment are performed by producing classes corresponding to each part of data processing. The bundle adjustment, which adds the principle coordinate and focal length term to the non-photogrammetric CCD camera, is found to increase usability of the CCD camera and the accuracy of object positioning. In conclusion, classes and their hierarchies in the digital photogrammetry are designed to manage multi-step procedures using OOP and close range digital photogrammetric process is implemented using CCD camera in an integrated System.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.298-301
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• 1990

This paper presents technologies to improve the control of an impact wrench. Impact wrench is a tool which is held by the electro-mechanical manipulator and used to fasten and loosen the bolts for remote maintenance of equipment in hostile environment. Vision system was developed to measure the distance and improve the positioning of the impact wrench. The vision system used two laser beams with a CCTV camera. Also, a torque adjusting method was developed to limit the fastening torque.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.7
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• pp.1477-1486
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• 2012

In this paper, we propose Multi-view CGH Making System using method of generation of virtual view-point depth image. We acquire reliable depth image using TOF depth camera. We extract parameters of reference-view cameras. Once the position of camera of virtual view-point is defined, select optimal reference-view cameras considering position of it and distance between it and virtual view-point camera. Setting a reference-view camera whose position is reverse of primary reference-view camera as sub reference-view, we generate depth image of virtual view-point. And we compensate occlusion boundaries of virtual view-point depth image using depth image of sub reference-view. In this step, remaining hole boundaries are compensated with minimum values of neighborhood. And then, we generate final depth image of virtual view-point. Finally, using result of depth image from these steps, we generate CGH. The experimental results show that the proposed algorithm performs much better than conventional algorithms.

• Biomedical Engineering Letters
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• v.8 no.4
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• pp.383-392
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• 2018

For prompt gamma ray imaging for biomedical applications and environmental radiation monitoring, we propose herein a multiple-scattering Compton camera (MSCC). MSCC consists of three or more semiconductor layers with good energy resolution, and has potential for simultaneous detection and differentiation of multiple radio-isotopes based on the measured energies, as well as three-dimensional (3D) imaging of the radio-isotope distribution. In this study, we developed an analytic simulator and a 3D image generator for a MSCC, including the physical models of the radiation source emission and detection processes that can be utilized for geometry and performance prediction prior to the construction of a real system. The analytic simulator for a MSCC records coincidence detections of successive interactions in multiple detector layers. In the successive interaction processes, the emission direction of the incident gamma ray, the scattering angle, and the changed traveling path after the Compton scattering interaction in each detector, were determined by a conical surface uniform random number generator (RNG), and by a Klein-Nishina RNG. The 3D image generator has two functions: the recovery of the initial source energy spectrum and the 3D spatial distribution of the source. We evaluated the analytic simulator and image generator with two different energetic point radiation sources (Cs-137 and Co-60) and with an MSCC comprising three detector layers. The recovered initial energies of the incident radiations were well differentiated from the generated MSCC events. Correspondingly, we could obtain a multi-tracer image that combined the two differentiated images. The developed analytic simulator in this study emulated the randomness of the detection process of a multiple-scattering Compton camera, including the inherent degradation factors of the detectors, such as the limited spatial and energy resolutions. The Doppler-broadening effect owing to the momentum distribution of electrons in Compton scattering was not considered in the detection process because most interested isotopes for biomedical and environmental applications have high energies that are less sensitive to Doppler broadening. The analytic simulator and image generator for MSCC can be utilized to determine the optimal geometrical parameters, such as the distances between detectors and detector size, thus affecting the imaging performance of the Compton camera prior to the development of a real system.

• 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.

• ETRI Journal
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• v.44 no.1
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• pp.62-72
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• 2022

In this study, we propose a multi-GPU-based 8KVR stitching system that operates in real time on both local and cloud machine environments. The proposed system first obtains multiple 4 K video inputs, decodes them, and generates a stitched 8KVR video stream in real time. The generated 8KVR video stream can be downloaded and rendered omnidirectionally in player apps on smartphones, tablets, and head-mounted displays. To speed up processing, we adopt group-of-pictures-based distributed decoding/encoding and buffering with the NV12 format, along with multi-GPU-based parallel processing. Furthermore, we develop several algorithms such as equirectangular projection-based color correction, real-time CG overlay, and object motion-based seam estimation and correction, to improve the stitching quality. From experiments in both local and cloud machine environments, we confirm the feasibility of the proposed 8KVR stitching system with stitching speed of up to 83.7 fps for six-channel and 62.7 fps for eight-channel inputs. In addition, in an 8KVR live streaming test on the 5G MEC/cloud, the proposed system achieves stable performances with 8 K@30 fps in both indoor and outdoor environments, even during motion.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.4A
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• pp.239-249
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• 2012

Recently, the virtual view generation method using depth data is employed to support the advanced stereoscopic and auto-stereoscopic displays. Although depth data is invisible to user at 3D video rendering, its accuracy is very important since it determines the quality of generated virtual view image. Many works are related to such depth enhancement exploiting a time-of-flight (TOF) camera. In this paper, we propose a fast 3D scene capturing system using one TOF camera at center and two high-resolution cameras at both sides. Since we need two depth data for both color cameras, we obtain two views' depth data from the center using the 3D warping technique. Holes in warped depth maps are filled by referring to the surrounded background depth values. In order to reduce mismatches of object boundaries between the depth and color images, we used the joint bilateral filter on the warped depth data. Finally, using two color images and depth maps, we generated 10 additional intermediate images. To realize fast capturing system, we implemented the proposed system using multi-threading technique. Experimental results show that the proposed capturing system captured two viewpoints' color and depth videos in real-time and generated 10 additional views at 7 fps.