• Title/Summary/Keyword: stereo-camera

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Three Dimensional Positioning Accuracy of KOMPSAT-1 Stereo Imagery

  • Jeong, Soo;Kim, Yong-Soo
    • Korean Journal of Remote Sensing
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    • v.16 no.4
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    • pp.339-345
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    • 2000
  • KOMPSAT-1 was launched on 21 December, 1999 and the main mission of the satellite is the cartography to provide the imagery from a remote earth view for the production of maps of Korean territory. For this purpose, the satellite has capability to tilt the spacecraft utmost $\pm$45 degrees to acquire stereo satellite imagery in different paths. This study aims to estimate the three dimensional positioning accuracy of stereo satellite imagery from EOC(electro-optical camera), a payload of KOMPSAT-1 satellite. For this purpose, the ground control points and check points were obtained by GPS surveying. The sensor modeling and the adjustment was performed by PCI software installed in KARI (Korea Aerospace Research Institute), which contained mathematical analysis module for KOMPSAT-1 EOC. The study areas were Taejon and Nonsan, placed in the middle part of Korea. As a result of this study, we found that the RMSE(root mean square error) value of three dimensional positioning KOMPST-1 stereo imagery can be less than 1 pixel (6.6 m) if we can use about 10 GCPs(ground control points). Then, a standarrd of FGDC (Federal Geographic Data Committee) of USA was applied to the result to estimate the three dimensional positioning accuracy of KOMPSAT-1 stereo imagery.

On the Measurement Technique of Void Fraction by Single Camera Two Phase PIV (단일 카메라 입자영상유속계를 이용한 이상유동 기포율 측정방법)

  • Choi, Dong-Whan;Sung, Jae-Yong;Yoo, Jung-Yul
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.1558-1563
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    • 2004
  • A measurement technique for the void fraction and the bubble dynamics in gas-liquid two-phase flows has been proposed using a time-resolved two-phase PIV system. For the three-dimensional evaluation of the bubble information, both the images from the front and side views are simultaneously recorded into a high speed CCD camera by reflecting the side image into the front view with the help of a $45^{\circ}$ oriented mirror. Then, a stereo-matching technique is applied to calculate the void fraction, bubble size and shape. To obtain the rising bubble velocities, the 2-frame PTV method was applied. Consequently, the present technique shows good feasibility for the measurements of the volume fractions, mean diameters, aspect ratios and velocities of the bubbles at the three-dimensional point of view.

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Real-Time Container Shape and Range Recognition for Implementation of Container Auto-Landing System

  • Wei, Li;Lee, Eung-Joo
    • Journal of Korea Multimedia Society
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    • v.12 no.6
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    • pp.794-803
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    • 2009
  • In this paper, we will present a container auto-landing system, the system use the stereo camera to measure the container depth information. And the container region can be detected by using its hough line feature. In the line feature detection algorithm, we will detect the parallel lines and perpendicular lines which compose the rectangle region. Among all the candidate regions, we can select the region with the same aspect-ratio to the container. The region will be the detected container region. After having the object on both left and right images, we can estimate the distance from camera to object and container dimension. Then all the detect dimension information and depth inform will be applied to reconstruct the virtual environment of crane which will be introduce in this paper. Through the simulation result, we can know that, the container detection rate achieve to 97% with simple background. And the estimation algorithm can get a more accuracy result with a far distance than the near distance.

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Development of a Fruit Harvesting Robot(II) -Determination of Fruit Location by a Closed-Circuit TV Camera- (과실수확(果實收穫) 로봇에 관한 연구(硏究)(II) -폐쇄회로(閉鎖回路) TV 카메라에 의한 과실(果實)의 위치검출(位置檢出)-)

  • Ryu, K.H.;Noh, S.H.;Kim, Y.H.
    • Journal of Biosystems Engineering
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    • v.14 no.2
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    • pp.104-114
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    • 1989
  • The most important subject in developing agricultural robots for fruit harvesting is to detect accurately the location of a fruit about the given coordinate system. This study was carried out to develop an image processing algorithm which enables finding out the three dimensional locations of a fruit. The digital image processing device consisted of an optosensor (Closed-circuit TV camera), image processing interface board (Digitizer) and microcomputer (IBM PC/AT). A stereo-image processing method using the two cameras attached to the manipulator was evaluated through experiment with apples. The accuracy and quickness of detecting the location of apples by this method was not satisfactory. The maximum errors of the detected locations by the stereo-image processing method in x-, Y-, and z- directions were 3, 4 and 4 cm, respectively. The maximum time required to get the rectangular coordinate data of a fruit was about 2 minutes.

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The Image Measuring System for accurate calibration-matching in objects (정밀 켈리브레이션 정합을 위한 화상측징계)

  • Kim, Jong-Man
    • Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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    • 2006.11a
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    • pp.357-358
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    • 2006
  • Accurate calibration matching for maladjusted stereo cameras with calibrated pixel distance parameter is presented. The camera calibration is a necessary procedure for stereo vision-based depth computation. Intra and extra parameters should be obtain to determine the relation between image and world coordination through experiment. One difficulty is in camera alignment for parallel installation: placing two CCD arrays in a plane. No effective methods for such alignment have been presented before. Some amount of depth error caused from such non-parallel installation of cameras is inevitable. If the pixel distance parameter which is one of Intra parameter is calibrated with known points, such error can be compensated in some amount and showed the variable experiments for accurate effects.

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Bin Picking method using stereo vision (스테레오 비젼을 이용한 Bin Picking Method)

  • 주기세;한민홍
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.692-698
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    • 1993
  • This paper presents a Bin-Picking method in which robot recognizes the positions and orientations of jumbled objects placed in a bin, then picks up distinctive objects from the top of the jumble. The jumbled objects are recognized comparing the characteristics extracted from stereo images with those in the CAD data. The 3-D information is obtained using the bipartite-matching method which compares image of one camera with the image of the other camera Then the robot picks up the object which will cause the least amount of disturbance to the jumble, and places it at a predetermined place. This paper contributes to the basic study of Bin-Picking, and can be used in an automatic assembly system without using part sorting or orienting devices.

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The Volume Monitoring System of a Landfill Facility Using Stereo Camera Measurement (스테레오 카메라 측정을 이용한 매립장 체적 감시 시스템)

  • Cho, Sung-Yun;Lee, Young-Dae
    • Proceedings of the Korean Society of Computer Information Conference
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    • 2013.07a
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    • pp.5-8
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    • 2013
  • 이 논문에서는 쓰레기 매립의 표준화 및 고도화를 위한 일환으로 쓰레기 체적을 주기적으로 계산하는 알고리즘을 제시하였다. 카메라 캘리브레이션 이후에 대상체의 표면에 대한 포인트 클라우드(point cloud) 데이타를 얻을 수 있었으며 이것을 제시된 체적 계산 알고리즘의 입력이 된다. 균일(uniform) 및 비균일 삼각 격자 기반 메싱(non-uniform triangular meshing) 방법에 기초한 두 개의 체적 계산 알고리즘을 제안하였으며 알고리즘의 타당성을 시뮬레이션과 실제 현장 실험을 통해 입증하였다.

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Improvement of the Accuracy and Conveniency in Automated Strain Measurement through High-Resolution Image Processing (고해상도 화상처리를 통한 자동 변형률 측정의 정확도와 편의성 개선)

  • Kim, H.J.;Choi, S.C.
    • Proceedings of the Korean Society for Technology of Plasticity Conference
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    • 2006.06a
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    • pp.34-39
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    • 2006
  • An automated surface-strain measurement system, named ASIAS, was developed by using the image processing and stereo vision techniques in the previous studies by the corresponding author and his coworkers. This system has been upgraded mainly to improve the accuracy through image enhancement, sub-pixel measurement, surface smoothing, etc., since the first version was released. The present study has still more improved the convenience of users as well as the accuracy of measurement by processing high resolution images 8 mega pixels or more which can be easily obtained from a portable digital steal camera. It is proved that high resolution image processing greatly decreases the measurement error and gives strain data without considerable deterioration of accuracy even when the deformed grids to be measured and the master grids for camera calibration are captured together in the same image, making the whole process of strain measurement much simpler.

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An Image-Based Stereo visual Servoing Algorithm Robust to the Camera Extrinsic Parameters (카메라 외적 파라메터에 대하여 강인성을 갖는 스테레오 시각 제어 알고리즘)

  • Dong Min Kim
    • Journal of Institute of Control, Robotics and Systems
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    • v.4 no.6
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    • pp.753-758
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    • 1998
  • 본 논문은 카메라 파라메터의 측정오차에 대하여 강인성을 보이는 새로운 로봇의 스테레오 시각 위치제어 알고리즘을 제시한다. 제시된 알고리즘은 카메라로부터 측정된 영상 데이터만을 이용함으로써, 특히 파라메터 측정오차에 대하여 매우 민감함을 보이는 영상 데이터로부터 작업 공간에서의 위치로의 변환, 즉 역변환 추정장치의 필요성을 제거하였다. 이러한 특징이 기존 개발된 시각 제어기와의 큰 차이를 두고 있다. 그럼에도 불구하고 제시된 제어기는 전 작업 영역 내에서 시스템 안정성을 갖는다. 또한 카메라의 위치 측정 오차에 대하여 전혀 영향을 받지 않음이 증명되어지고 방향 폭정 오류에 대해서도 기존 제어기보다 강인함을 시뮬레이션을 통하여 보여진다.

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Development of Algorithm or Depth Extraction in Stereo Endoscopic Image (스테레오 내시경 영상의 깊이정보추출 알고리즘 개발)

  • Lee, S.H.;Kim, J.H.;Hwang, D.S.;Song, C.G.;Lee, Y.M.;Kim, W.K.;Lee, M.H.
    • Proceedings of the KOSOMBE Conference
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    • v.1997 no.11
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    • pp.142-145
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    • 1997
  • This paper presents the development of depth extraction algorithm or the 3D Endoscopic Data using a stereo matching method and depth calculation. The purpose of other's algorithms is to reconstruct 3D object surface and make depth map, but a one of this paper is to measure exact depth information on the base of [cm] from camera to object. For this, we carried out camera calibration.

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