• Journal of the Optical Society of Korea
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• v.6 no.3
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• pp.72-75
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• 2002

We have studied both theoretically and experimentally an omnidirectional reflector operating at the wavelength region of 1.3 $\mu$m. The omnnidirectional reflector, a special case of one-dimensional photonic crystals, was prepared by alternately sputtering two dielectric materials, amorphous silicon and silicon dioxide. Measured reflectance spectra, very consistent with simulated results at all angles and polarizations, clearly showed the existence of an omnidirectional photonic bandgap.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.40-44
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• 2013

The ball-shaped mobile robot, so called ballbot has single point contact on ground and low energy consumption in motion because of the reduced friction. In this paper, a new ballbot is presented, which has omnidirectional mobile platform inside of it as a driving system. Thus the ballbat has omnidirectional mobility without nonholonomic constraints. Kinematics and inverse kinematics of the ballbat is derived also in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.829-834
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• 2003

Many types of omnidirectional wheels with passive rollers have gaps between rollers. Since these gaps cause a wheel to make discontinuous contact with the ground, they lead to vertical and/or horizontal vibrations during wheel operation. In addition, the radii of passive rollers are related to the height of a bump an omnidirectional wheel can surmount. In this research a new design of the alternate wheel is proposed. Because this wheel makes continuous contact with the ground and has alternating large and small rollers around the wheel, it is termed a continuous alternate wheel (CAW). In this paper a design procedure is also presented to determine the optimum number of rollers, the radii of rollers and the inside inclination angle of an outer roller for given design specifications. The CAW based on this design is compared to the existing alternate wheels in terms of design. Finally, an actual continuous alternate wheel is constructed to verify validity of the design guidelines.

• Journal of Sensor Science and Technology
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• v.26 no.3
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• pp.173-178
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• 2017

In this paper, we newly developed an omnidirectional receiver for visible light communication (VLC). The omnidirectional receiver was composed of a flexible solar cell attached on a cylindrical surface with its axis in vertical direction. The solar cell surface was symmetrical and showed an almost uniform receiving pattern in a horizontal plane. The maximum difference in a receiving pattern was within 7% of its peak value in a horizontal plane. This configuration is very easy to fabricate and useful in constructing wireless sensor networks in which one receiver needs to detect multiple LED signals in different directions.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.6
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• pp.307-315
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• 2000

For the autonomy of a mobile robot it is first needed to know its position and orientation. Various methods of estimating the position of a robot have been developed. However, it is still difficult to localize the robot without any initial position or orientation. In this paper we present the method how to make the colored map and how to calculate the position and direction of a robot using the angle data of an omnidirectional image. The wall of the map is rendered with the corresponding color images and the color histograms of images and the coordinates of feature points are stored in the map. Then a mobile robot gets the color omnidirectional image at arbitrary position and orientation, segments it and recognizes objects by multiple color indexing. Using the information of recognized objects robot can have enough feature points and localize itself.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.145-148
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• 2011

In this paper, we proposed a search method for structured light pixels of omnidirectional structured light image. Since the omnidirectional structured light image is composed of several circular arc segments, the proposed algorithm searches the structured light pixels in radial direction rather than horizontal or vertical directions. The proposed search algorithm is based on the well-known Bresenham raster algorithm for line drawing in discrete integer space, thereby computation of the algorithm is very efficient. Comparison results between the proposed search algorithm and the conventional horizontal search are presented in experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.955-959
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• 2013

It is possible to obtain an omnidirectional stereo image via a single camera by using a catadioptric approach with a convex mirror and concave lens. In order to measure three-dimensional distance using the imaging system, the optical parameters of the system are required. In this paper, a calibration procedure to extract the parameters of the imaging system is described. Based on the parameters, experiments are carried out to verify the performance of the three-dimensional distance measurement of a single camera omnidirectional stereo imaging system.

• Journal of the Institute of Convergence Signal Processing
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• v.7 no.1
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.11a
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• pp.22-24
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• 2018

MPEG-I Visual group is actively working on enhancing immersive experiences with up to six degree of freedom (6DoF). In virtual space of omnidirectional 6DoF, which is defined as a case of degree of freedom providing 6DoF in a restricted area, looking at the scene from another viewpoint (another position in space) requires rendering additional viewpoints called virtual omnidirectional viewpoints. This paper presents the performance analysis on view synthesis, which is done as the exploration experiment (EE) in MPEG-I, from a set of 360 videos providing omnidirectional 6DoF in various ways with different distances, directions, and number of input views. In addition, we compared the subjective quality between synthesized images with one input view and two input views.

• Transportation Technology and Policy
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• v.7 no.2
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• pp.39-44
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• 2010