• 방송공학회논문지
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• 제11권4호
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• pp.533-540
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• 2006

본 연구에서는 2개의 CMOS 영상 센서가 탑재된 스테레오 시각 모듈을 사용하여 얼굴 움직임 및 표정을 효과적으로 추적할 수 있는 얼굴용 모션 캡쳐 기술을 제안한다. 제안한 추적 알고리즘에는 신경회로망 기반의 중심점추적기법 및 상관추적기법을 사용한다. 실험 결과, 일반 얼굴 표정에 대해 스테레오 시각 모션 캡쳐를 사용한 두 추적기법 모두 15, 30프레임율에 대해 각각 95.6%, 99.6%의 추적성공률을 가진다는 것을 보여준다. 그러나 '입술 떨림'의 경우, 입술부위는 중심점추적기법(82.7%/15frame, 99.1%/30frame)의 추적성공률이 상관추적기법(78.7%/15frame, 92.7%/30frame)보다 높다는 것을 보여준다.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.523-531
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• 2001

This paper describes and automatic mirror adjustment system that rotates a pair of side mirrors and the room mirror of a car to the optimal position for a driver by using the locating of the driver\`s pupils. A stereo vision system measures 3D coordinates of a pair pupils by analyzing the input images of stereo B/W CCD cameras mounted on the instrument panel. this system determines the position angle of each mir-ror on the basis of information about the location of the pupils and rotates each mirror to the appropriate po-sition by mirror actuators. The vision system can detect the driver\`s pupils regardless of whether it is day-time or nighttime by virtue of an infrared light source. information about the pair of nostrils in used to im- prove the correctness of pupil detection. This system can adjust side mirrors and the room mirror automati- cally and rapidly by a simple interface regardless of driver replacement of driver\`s posture. Experiment has shown this to be a new mirror adjustment system that can make up for the weak points of previous mirror adjustment systems.

• 대한전자공학회논문지
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• 제27권3호
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• pp.116-123
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• 1990

3D computer vision에서 일치성 문제를 해결하기 위한 많은 논문이 epipolar line이 수평하다는 가정을 사용한다. 그러나 실제로 그러한 상황을 만들기에는 어려운 점이 있다. 본 논문은 epipolar line이 수평하지 않은 상태에서 적용할 수 있으며 line matching에 근거를 둔 binocular-stereo matching 알고리듬을 제안한다. 본 논문의 방법은 주어진 line segment 의 끝점에서의 epipolar line 들과 그점에서 maximum disparity에 의해서 결정되어지는 line searching window를 사용한다. 정합시에는 line segment들의 방향과 edge의 세기, cross-correlation들을 사용하였으며. 실험에 의해서 일치성 문제를 해결하기 위한 유용한 방법임을 알 수 있었다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.207-212
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• 2008

최근 공장 자동화가 보편화됨에 따라 무인 운반설비의 자동화 시스템 개발의 한 부분으로써 Stereo Vision 장치를 이용하여 입력된 영상의 에지(Edge)를 추출하고, 추출된 에지를 이용하여 물체의 위치적 특징을 찾고 무인크레인이 이동해야할 위치좌표를 전달한다. 본 연구에서는 실제 산업현장에 가장 보편적인 형상인 판재와 원통을 기준으로 CCD 카메라 2대를 이용하여 물체의 형상을 인식하고, 그 물체의 중심점을 찾는 알고리즘을 제안하였다. 우선 에지를 추출하고 사용자의 선택에 따라 추출된 에지의 특징을 판별하여 판재와 원통을 구분하여 원하는 물체의 위치정보를 찾아낸다. 본 연구는 무인 운반설비의 자동화 시스템 개발에 도움이 될 것으로 기대된다.

• 소성∙가공
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• 제9권4호
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• pp.404-412
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• 2000

It is desirable to use the square grid analysis with the aid of the stereo vision and image processing techniques in order to automatically measure the surface-strain distribution over a stamped part. But this method has some inherent problems such as the difficulty in enhancement of bad images, the measurement error due to the digital image resolution and the limit of the area that can be measured at a time. Therefore, it is still hard to measure the strain distribution over the entire surface of a medium-or large-sized stamped part even by using an automated strain measurement system. In this study, several methods which enable to solve these problems considerably without losing accuracy and precision In measurement are suggested. The superposition of images that have different high-lightened or damaged part from each other gives much enhanced image. A new algorithm for constructing of the element connectivity from the line-thinned image helps recognize up to 1,000 elements. And the geometry assembling algorithm including the global error minimization makes it possible to measure a large specimen with reliability and efficiency.

• Current Optics and Photonics
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• 제2권4호
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• pp.348-355
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• 2018

How to measure the creepage distance of an insulator quickly and accurately is a problem for the power industry at present, and the noticeable concern is that the high voltage insulation equipment cannot be measured online in the charged state. In view of this situation, we develop an on-line measurement system of creepage distance for high voltage insulators based on binocular stereo vision. We have proposed a method of generating linear structured light using a conical off-axis mirror. The feasibility and effect of two ways to solve the interference problem of strong sunlight have been discussed, one way is to use bandpass filters to enhance the contrast ratio of linear structured light in the images, and the other way is to process the images with adaptive threshold segmentation and feature point extraction. After the system is calibrated, we tested the measurement error of the on-line measurement system with a composite insulator sample. Experimental results show that the maximum relative error is 1.45% and the average relative error is 0.69%, which satisfies the task requirement of not more than 5% of the maximum relative error.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.511-513
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• 1998

This paper describes a full color stereoscopic video display system using a LCD shutter. Human apprehends the world with a natural stereo vision. The left eye sees through a slightly different perspective from the right eye; proposed vision system combines two images into a single image that has stereo depth. That is, when the left image is on the screen, the left shutter opens and the right shutter closes - and vice versa. The LCD shutter channels the left image to the left eye, and the right image to the right eye. The brain then fuses the stereo pair into a single high-resolution, flicker-free 3D image. The designed vision system is a real-time system that shows stereoscopic images without the loss of image information from video cameras.

• 한국융합학회논문지
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• 제10권2호
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• pp.201-206
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• 2019

해안 영역에서의 해수의 범람은 재산 및 인명피해를 야기한다. 이러한 피해를 최소화 하고자 방파시설을 설치하지만, 고정식 방파시설의 경우, 변화하는 해상상태에 대응할 수 없으며, 과도한 설정에 의한 설치는 환경적 피해를 일으킨다. 본 연구에서는 환경적 피해를 줄이고 선박의 항행에 지장이 없는 가변식 초기 쇄파 장치에 대한 연구를 실험적 방법과 입자법을 이용한 수치 해석적 방법으로 연구하였다. 초기 쇄파 장치의 유무에 따라 해안절벽으로 넘어오는 파의 범람은 큰 차이가 있었으며, 이는 실험과 수치 해석 모두 확인되었다. 또한 초기 쇄파 장치의 위치에 따른 영향 역시 고려되었으며, 위치 역시 중요한 요소임이 확인되었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• 한국정밀공학회지
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• 제19권11호
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.