• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.1
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• pp.55-61
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• 2008

A real-time three-dimensional vision is a passive system, which would support various applications including collision avoidance, home networks. It is a good alternative of active systems, which are subject to interference in noisy environments. In this paper, we designed a SAD correlator with respect to resource usage for a real-time three-dimensional vision system. Regular structures, linear data flow and abundant parallelism make the correlation algorithm a good candidate for a reconfigurable hardware. We implemented two versions of SAD correlator in HDL and synthesized them to determine resource requirements and performance. From the experiment we show that the SAD correlator fits into reconfigurable hardware in marginal cost and can handle about 30 frames/sec with $640{\times}480$ images.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.3
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• pp.262-268
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• 2010

In this paper, this study restores the distorted image to its original image by compensating for the distortion of image from a fixed-focus camera lens. The various developments and applications of the imaging devices and the image sensors used in a wide range of industries and expanded use, but due to the needs of the small size and light weight of the camera, the distortion from acquiring images of the distorted curvature of the lens tends to affect many. In particular, the three-dimensional imaging camera, each different distortion of left and right lens cause the degradation of three-dimensional sensitivity and left-right image distortion ratio. we approached the way of generalizing the approximate equations to restore each part of left-right camera images to the coordinators of the original images. The adaptive Neuro-Fuzzy Inference System is configured for it. This system is divided from each membership function and is inferred by 1st order Sugeno Fuzzy model. The result is that the compensated images close to the left, right original images. Using low-cost and compact imaging lens by which also determine the exact three-dimensional image-sensing capabilities and will be able to expect from this study.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.331-339
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• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• Journal of Korea Society of Industrial Information Systems
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• v.13 no.1
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• pp.11-21
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• 2008

Recently, it has shown an increased interest in 3D stereoscopic contents due to the development of the digital image media. Therefore, many techniques in 3D stereoscopic image generation have being researched and developed. However, it is difficult to generate high immersion and natural 3D stereoscopic contents, because the lack of 3D geometric information imposes restrictions in 2D image. In addition, control of the camera interval and rendering of the both eyes must be repetitively accomplished for the stereo effect being high. Therefore, we propose integrated editing system for 3D stereoscopic contents production using a variety of images. Then we generate 3D model from projective geometric information in single 2D image using image-based modeling method. And we offer real-time interactive 3D stereoscopic preview function for determining high immersion 3D stereo view. And then we generate intuitively 3D stereoscopic contents of high-quality through a stereoscopic LCD monitor and a polarizing filter glasses.

• Nuclear Engineering and Technology
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• v.53 no.4
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• pp.1189-1198
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• 2021

When performing remote tasks using robots in nuclear power plants, a 3D shape measurement system is advantageous in improving the efficiency of remote operations by easily identifying the current state of the target object for example, size, shape, and distance information. Nuclear power plants have high-radiation and underwater environments therefore the electronic parts that comprise 3D shape measurement systems are prone to degradation and thus cannot be used for a long period of time. Also, given the refraction caused by a medium change in the underwater environment, optical design constraints and calibration methods for them are required. The present study proposed a method for developing an underwater 3D shape measurement system with improved radiation tolerance, which is composed of commercial electric parts and a stereo camera while being capable of easily and readily correcting underwater refraction. In an effort to improve its radiation tolerance, the number of parts that are exposed to a radiation environment was minimized to include only necessary components, such as a line beam laser, a motor to rotate the line beam laser, and a stereo camera. Given that a signal processing circuit and control circuit of the camera is susceptible to radiation, an image sensor and lens of the camera were separated from its main body to improve radiation tolerance. The prototype developed in the present study was made of commercial electric parts, and thus it was possible to improve the overall radiation tolerance at a relatively low cost. Also, it was easy to manufacture because there are few constraints for optical design.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.76-76
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• 2000

The calibration of the robot system with a visual sensor consists of robot, hand-to-eye, and sensor calibration. This paper describe a new technique for computing 3D position and orientation of a 3D sensor system relative to the end effect of a robot manipulator in an eye-on-hand robot configuration. When the 3D coordinates of the feature points at each robot movement and the relative robot motion between two robot movements are known, a homogeneous equation of the form AX : XB is derived. To solve for X uniquely, it is necessary to make two robot arm movements and form a system of two equation of the form: A$_1$X : XB$_1$ and A$_2$X = XB$_2$. A closed-form solution to this system of equations is developed and the constraints for solution existence are described in detail. Test results through a series of simulation show that this technique is simple, efficient, and accurate fur hand/eye calibration.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.553-558
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• 2008

Advancement in information technology have enabled applying vision sensor to railway, such as CCTV. CCTV has been widely used in railway application, however the CCTV is a passive system that provide limited capability to maintain safety from boarding platform. The station employee should monitor continuously CCTV monitors. Therefore immediate recognition and response to the situation is difficultin emergency situation. Recently, urban transit operators are pursuing applying an unattended station operation system for their cost reduction. Therefore, an intelligent monitoring system is need for passenger's safety in railway. The paper proposes a vision based monitoring system and object detection algorithm for passenger's safety in railway platform. The proposed system automatically detects accident in platform and analyzes level of danger using image processing technology. The system uses stereo vision technology with multi-sensors for minimizing detection error in various railway platform conditions.

• Proceedings of the IEEK Conference
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• 2002.06d
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• pp.291-294
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• 2002

A simple computer vision technology to measure the middle-ranged depth with mono camera and plain mirror is proposed The proposed system is structured wiか the rotating mirror in front of the fixed mono camera In contrast to the previous stereo vision system in which the disparity of the closer object is larger than that of the distant object, the pixel movement caused by the rotating mirror is bigger for the pixels of the distant object in the proposed system Being inspired by such feature in the proposed system the principle of the depth measurement based on the relation of the pixel movement and the distance of object have been investigated. Also, the factors to influence the precision of the measurement are analysed The benefits of the proposed system are low price and less chance of occlusion. The robustness for practical usage is an additional benefit of the proposed vision system.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.321-322
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• 2007

본 논문은 네트워크을 통한 원격제어 시스템을 구축하는 연구로써 무선 랜과 AP를 이용하여 독립 무선 네트워크를 구축하고, 이동로봇의 주변 환경에 대한 레이저 센서정보와 영상정의를 전송한다. 그리고 스테레오 카메라와 Head Mounted Display를 사용하여 원격지에서 입체감 있는 영상을 보며 조작을 할 수 있게 하였으며, Head Motion Tracking를 이용해 이동로봇의 카메라를 별도의 조작 없이 컨트롤 가능하도록 방법을 제안하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1411-1414
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• 1997

It is essential to obtain a distane informaion in order to completely execute assembly tasks such as a grasping and an insertion. In this paper, we propose a method estimating a measurement distance from a sensor to an object through using the omni-directional image sensing system for assembly(OISSA) and show its features and feasibility by a computer simulation. The method, utilizing a forwarded motion stereo technique, is simple to search the corresponding points and possible to immediatiely obtain a three-dimensional 2.pi.-shape information.