• Title/Summary/Keyword: stereo vision

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Object Recognition using Smart Tag and Stereo Vision System on Pan-Tilt Mechanism

  • Kim, Jin-Young;Im, Chang-Jun;Lee, Sang-Won;Lee, Ho-Gil
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2379-2384
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    • 2005
  • We propose a novel method for object recognition using the smart tag system with a stereo vision on a pan-tilt mechanism. We developed a smart tag which included IRED device. The smart tag is attached onto the object. We also developed a stereo vision system which pans and tilts for the object image to be the centered on each whole image view. A Stereo vision system on the pan-tilt mechanism can map the position of IRED to the robot coordinate system by using pan-tilt angles. And then, to map the size and pose of the object for the robot to coordinate the system, we used a simple model-based vision algorithm. To increase the possibility of tag-based object recognition, we implemented our approach by using as easy and simple techniques as possible.

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Adjustment Algorithms for the Measured Data of Stereo Vision Methods for Measuring the Height of Semiconductor Chips (반도체 칩의 높이 측정을 위한 스테레오 비전의 측정값 조정 알고리즘)

  • Kim, Young-Doo;Cho, Tai-Hoon
    • Journal of the Semiconductor & Display Technology
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    • v.10 no.2
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    • pp.97-102
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    • 2011
  • Lots of 2D vision algorithms have been applied for inspection. However, these 2D vision algorithms have limitation in inspection applications which require 3D information data such as the height of semiconductor chips. Stereo vision is a well known method to measure the distance from the camera to the object to be measured. But it is difficult to apply for inspection directly because of its measurement error. In this paper, we propose two adjustment methods to reduce the error of the measured height data for stereo vision. The weight value based model is used to minimize the mean squared error. The average value based model is used with simple concept to reduce the measured error. The effect of these algorithms has been proved through the experiments which measure the height of semiconductor chips.

Study on the Target Tracking of a Mobile Robot Using Active Stereo-Vision System (능동 스테레오 비젼을 시스템을 이용한 자율이동로봇의 목표물 추적에 관한 연구)

  • 이희명;이수희;이병룡;양순용;안경관
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.915-919
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    • 2003
  • This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

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Measurement of GMAW Bead Geometry Using Biprism Stereo Vision Sensor (바이프리즘 스테레오 시각 센서를 이용한 GMA 용접 비드의 3차원 형상 측정)

  • 이지혜;이두현;유중돈
    • Journal of Welding and Joining
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    • v.19 no.2
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    • pp.200-207
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    • 2001
  • Three-diemnsional bead profile was measured using the biprism stereo vision sensor in GMAW, which consists of an optical filter, biprism and CCD camera. Since single CCD camera is used, this system has various advantages over the conventional stereo vision system using two cameras such as finding the corresponding points along the horizontal scanline. In this wort, the biprism stereo vision sensor was designed for the GMAW, and the linear calibration method was proposed to determine the prism and camera parameters. Image processing techniques were employed to find the corresponding point along the pool boundary. The ism-intensity contour corresponding to the pool boundary was found in the pixel order and the filter-based matching algorithm was used to refine the corresponding points in the subpixel order. Predicted bead dimensions were in broad agreements with the measured results under the conditions of spray mode and humping bead.

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The Spinning Right-angle Stereo Vision System to Center the Shifted Object on the 3-Dimensional Image (이동되는 목표물을 3차원 영상에 중심화시키는 회전 직각 스테레오 비젼 시스템)

  • Seo, Choon-Weon
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.29 no.11
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    • pp.18-27
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    • 2015
  • In this paper, we proposed the spinning right-angle stereo vision system to center the shifted object on 3-dimensional image using a human eyesight-like, and the system is reconstructed with conventional stereo vision system. In this proposed system, the centering results of objects on the 3-dimensional image are very good, and we got the parameter ratios 89~112% for the real measurement values. Therefore, the suggested the spinning right-angle stereo vision system have a high possibilities to be applied to many industrial system parts and to be used for robot system, automatic system, and etc.

Real-Time Control of a SCARA Robot by Visual Servoing with the Stereo Vision

  • S. H. Han;Lee, M. H.;K. Son;Lee, M. C.;Park, J. W.;Lee, J. M.
    • 제어로봇시스템학회:학술대회논문집
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    • 1998.10a
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    • pp.238-243
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    • 1998
  • This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.

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Stereoscopic Operators and Their Application

  • Gruts, Yu.-N.;Son, Jung-Young;Kang, Dong-Hoon
    • Journal of the Optical Society of Korea
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    • v.5 no.3
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    • pp.90-92
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    • 2001
  • Direct and inverse mathematical operators of stereo transformation (stereo operators) are studied in this paper. The stereo operators install a one-to-one correspondence between three dimensional coordinates of any point in space and the stereo coordinates which can be displayed on the screen under the given conditions, i.e. stereo vision base and the position of viewer. The stereo operators can be applied to the analyses of stereoscopic image distortions when the stereo vision base and the position of viewer are changed.

The matching algorithm of stereo images (Stereo 영상의 Matching Algorithm)

  • 조규상;김경기
    • 제어로봇시스템학회:학술대회논문집
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    • 1987.10b
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    • pp.96-99
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    • 1987
  • In the way of perception and depth finding of 3-D scene stereo vision is one of the best ways. Matching is important problem of stereo vision. In this paper we develop an algorithm that is adaptable to errors and computation time. And we demonstrate the way of matching.

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Development of Computer Vision System for Individual Recognition and Feature Information of Cow (II) - Analysis of body parameters using stereo image - (젖소의 개체인식 및 형상 정보화를 위한 컴퓨터 시각 시스템 개발(II) - 스테레오 영상을 이용한 체위 분석 -)

  • 이종환
    • Journal of Biosystems Engineering
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    • v.28 no.1
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    • pp.65-76
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    • 2003
  • The analysis of cow body parameters is important to provide some useful information fur cow management and cow evaluation. Present methods give many stresses to cows because they are invasive and constrain cow postures during measurement of body parameters. This study was conducted to develop the stereo vision system fur non-invasive analysis of cow body features. Body feature parameters of 16 heads at two farms(A, B) were measured using scales and nineteen stereo images of them with walking postures were captured under outdoor illumination. In this study, the camera calibration and inverse perspective transformation technique was established fer the stereo vision system. Two calibration results were presented for farm A and fm B, respectively because setup distances from camera to cow were 510 cm at farm A and 630cm at farm B. Calibration error values fer the stereo vision system were within 2 cm for farm A and less than 4.9 cm for farm B. Eleven feature points of cow body were extracted on stereo images interactively and five assistant points were determined by computer program. 3D world coordinates for these 15 points were calculated by computer program and also used for calculation of cow body parameters such as withers height. pelvic arch height. body length. slope body length. chest depth and chest width. Measured errors for body parameters were less than 10% for most cows. For a few cow. measured errors for slope body length and chest width were more than 10% due to searching errors fer their feature points at inside-body positions. Equation for chest girth estimated by chest depth and chest width was presented. Maximum of estimated error fur chest girth was within 10% of real values and mean value of estimated error was 8.2cm. The analysis of cow body parameters using stereo vision system were successful although body shape on the binocular stereo image was distorted due to cow movements.

Analysis of Quantization Error in Stereo Vision (스테레오 비젼의 양자화 오차분석)

  • 김동현;박래홍
    • Journal of the Korean Institute of Telematics and Electronics B
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    • v.30B no.9
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    • pp.54-63
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    • 1993
  • Quantization error, generated by the quantization process of an image, is inherent in computer vision. Because, especially in stereo vision, the quantization error in a 2-D image results in position errors in the reconstructed 3-D scene, it is necessary to analyze it mathematically. In this paper, the analysis of the probability density function (pdf) of quantization error for a line-based stereo matching scheme is presented. We show that the theoretical pdf of quantization error in the reconstructed 3-D position information has more general form than the conventional analysis for pixel-based stereo matching schemes. Computer simulation is observed to surpport the theoretical distribution.

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