• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.707-709
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• 2014

The radiation sources leaked from large-scale radiation leak accident like the Fukushima nuclear power plant accident or nuclear explosions can cause to the very large damage for us. So that the damage can be minimized, we have being developed a detector that can providing information about the location of the source to remove dangerous substances quickly than the conventional single detector. In this paper, we designed and implemented the radiation shield and the collimator for the development of the stereo radiation detector to detect contamination things using MCNP Simulation. And we analysed the test results of the radiation shield and collimator using the radiation source. The results of this paper will be used as the basis for improving the efficiency of the stereo radiation detector being studied currently.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.942-943
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• 2016

Stereo gamma ray detection system generates a two-dimensional image of the gamma ray by using the position values and the gamma ray signal. And the device will overlap with the visible light image shows the actual distribution of the gamma-ray space. The gamma ray detection device is a stereo configuration to a motion controller for controlling the signal measurement unit and the position detection portion for detecting the detection portion and the gamma-ray signal comprising a gamma-ray detection sensor. In this paper, we developed a system operation management algorithm for each module individually configured efficiently. We confirmed the imaged and distribution information output for the gamma rays from gamma-ray irradiation test site by using these results.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.5
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• pp.205-210
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• 2008

In previous paper, we introduced 3d acquisition system with CCD cameras, but it was not distinguished from other 3d acquisition system with PSD camera. In this paper, we introduce the 3d data acquisition system using by stereo method with two cameras, show the calibration method of two cameras, and present 3d acquisition methods. we tried to improve the accuracy of 3d data acquisition and implemented the proposed methods. According to the result, we found that the proposed algorithms can boost the accuracy highly against the previous works. The proposed methods are to remove distortion on input images and adjust z axis. We describes the performance in the result.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.9
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• pp.639-646
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• 2022

Landing site searching algorithms are developed for a quadrotor using a depth map in unknown environment. Guidance and control system of Unmanned Aerial Vehicle (UAV) consists of a trajectory planner, a position and an attitude controller. Landing site is selected based on the information of the depth map which is acquired by a stereo vision sensor attached on the gimbal system pointing downwards. Flatness information is obtained by the maximum depth difference of a predefined depth map region, and the distance from the UAV is also considered. This study proposes three landing methods and compares their performance using various indices such as UAV travel distance, map accuracy, obstacle response time etc.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 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.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.2
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• pp.69-79
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• 1994

The conventional machine vision system which has uniform rectangular grid requires tremendous amount of computation for processing and analysing an image especially in 2-D image transfermations such as scaling, rotation and 3-D reconvery problem typical in robot application environment. In this study, the imaging system with nonuiformly distributed image sensors simulating human visual system, referred to as Ploar Exponential Grid(PEG), is compared with the existing conventional uniform rectangular grid system in terms of image resolution and computational complexity. By mimicking the geometric structure of the PEG sensor cell, we obtained PEG-like images using computer simulation. With the images obtained from the simulation, image resolution of the two systems are compared and some basic image processing tasks such as image scaling and rotation are implemented based on the PEG sensor system to examine its performance. Furthermore Fourier transform of PEG image is described and implemented in image analysis point of view. Also, the range and heading-angle measurement errors usually encountered in 3-D coordinates recovery with stereo camera system are claculated based on the PEG sensor system and compared with those obtained from the uniform rectangular grid system. In fact, the PEC imaging system not only reduces the computational requirements but also has scale and rotational invariance property in Fourier spectrum. Hence the PEG system has more suitable image coordinate system for image scaling, rotation, and image recognition problem. The range and heading-angle measurement errors with PEG system are less than those of uniform rectangular rectangular grid system in practical measurement range.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.811-813
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• 2013

In order to measure the radiation, there are types of sensors plurality. I was using the detection method and sensitivity of the CCD sensor in the scintillator and collimator in the sensor. In this study, in order to detect radiation using a CCD sensor with high resolution, by measuring the radiation dose by processing the visible light generated in response to radiation of the image coming into the CCD in the scintillator in space it is to present a pointer that radiation comes out most. It is intended to imaging by calculation of the distance to the radiation source to the implementation of the stereo camera system video in the future.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.5 s.23
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• pp.53-65
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• 2002

The most widespread techniques for DEM generation are stereoscopy for optical sensor images and SAR interferometry(InSAR) for SAR images. These techniques suffer from certain sensor and processing limitations, which can be overcome by the synergetic use of both sensors and DEMs respectively. This study is associated with improvements of accuracy with consistency of image's characteristics between two different DEMs coming from stereoscopy for the optical images and interferometry for SAR images. The MWD(Multiresolution Wavelet Decomposition) and HPF(High-Pass Filtering), which take advantage of the complementary properties of SAR and stereo optical DEMs, will be applied for the fusion process. DEM fusion is tested with two sets of SPOT and ERS-l/-2 satellite imagery and for the analysis of results, DEM generated from digital topographic map(1 to 5000) is used. As a result of an integration of DEMs, it can more clearly portray topographic slopes and tilts when applying the strengths of DEM of SAR image to DEM of an optical satellite image and in the case of HPF, the resulting DEM.