• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.12
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• pp.122-130
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• 2010

This paper presents an active ranging system based on laser structured-light image. The structured-light image processing is computationally efficient in comparison with the conventional stereo image processing, since the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise, an efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed. Distance equation from the measured structured light pixel distance and system parameter calibration are addressed in this paper. Experiments and analysis are carried out to verify performance of the proposed ranging system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.145-148
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• 2011

In this paper, we proposed a search method for structured light pixels of omnidirectional structured light image. Since the omnidirectional structured light image is composed of several circular arc segments, the proposed algorithm searches the structured light pixels in radial direction rather than horizontal or vertical directions. The proposed search algorithm is based on the well-known Bresenham raster algorithm for line drawing in discrete integer space, thereby computation of the algorithm is very efficient. Comparison results between the proposed search algorithm and the conventional horizontal search are presented in experiments.

• Proceedings of the Korea Contents Association Conference
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• 2008.05a
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• pp.15-18
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• 2008

This paper proposes a method to reconstruct the 3-D face using structured light image. First of all, we suppose that each sight vector of a projector and camera are parallel. We project the structured light in the shape of lattice on the background to acquire the reference-structured light image. This image is used to calibrate the projector and camera. Since then, we acquire the face-structured light image which is projected the same structured light on the face. These two structured light images are used to reconstruct the 3-D face through the variation which is measured from the positional difference of feature vectors. In our experiment result, we could reconstruct the 3-D face image as recognize through these simple devices.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.309-314
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• 2015

In this study, an embedded ranging system based on a laser structured light image is developed. The distance measurement by the structured light image processing has efficient computation because the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise and real-time laser structured light image processing, a bandpass optical filter is adopted in this study. The proposed ranging system has an embedded image processor performing the whole image processing and distance measurement, and so reduces the computational burden in the main control system. A system calibration algorithm is presented to compensate for the lens distortion.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.248-251
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• 2007

In this paper, we are propose a method to estimate the 2-D mesh from structured light image for reconstruction of 3-D face image. To acquire the structured light image, we are project structured light on the face using the projector. we are extract the projected cross points from the acquire image. The 2-D mesh image is extracted from the position and angle of cross points. In the extraction processing, the error was fixed to extract the correct 2-D mesh.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.7
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• pp.30-41
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• 1989

In this paper, a robust and simple structured light sensory system has been studied to endow mobile robots with the ability of navigating in real world. A mobile robot with this sensor can be applied in two ways: first, real time navigation in 3-dimensional world, second, modeling and recognition of environment. Range data obtained with this sensor are fairy accurate, and the data aquisition speed is satisfactory. Experiments in diverse situation show effectiveness of the structured light sensor for the mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.479-486
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• 2012

In this paper, a ranging system is proposed that is able to measure 360 degree omnidirectional distances to environment objects. The ranging system is based on the structured light imaging system with catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured light image processing algorithms are developed; sequential integration of difference images with modulated structured light and radial search based on Bresenham line drawing algorithm. A dedicated FPGA image processor is developed to speed up the overall image processing. Also the distance equation is derived in the omnidirectional imaging system with a hyperbolic mirror. It is expected that the omnidirectional ranging system is useful for mapping and localization of mobile robot. Experiments are carried out to verify the performance of the proposed ranging system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.751-755
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• 2010

In this paper, we proposed an omnidirectional ranging system that is able to obtain $360^{\circ}$ all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.

• International Journal of Internet, Broadcasting and Communication
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• v.11 no.4
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• pp.49-58
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• 2019

3D scanners are needed in various fields, and their usage range is greatly expanded. In particular, it is being used to reduce costs at various stages during product development and production. Now, the importance of quality inspection in the manufacturing industry is increasing. Structured optical system applied in this study is suitable for measuring high precision of mold, press work, precision products, etc. and economical and effective 3D scanning system for measuring inspection in manufacturing industry can be implemented. We developed Structured light 3D scanner which can measure high precision by using Digital Light Processing (DLP) projector and camera. In this paper, 3D image scanner based on structured optical system can realize 3D scanning system economically and effectively when measuring inspection in the manufacturing industry.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.93-96
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• 1996

Structured laser light is a widely used method for obtaining 3D range information in Machine Vision. However, The structured laser light method is based on assumption that the surface of objects is Lambertian. When the observed surfaces are highly specularly reflective, the laser light can be detected in various parts on the image due to a specular reflection and secondary reflection. This makes wrong range data and the image sensor unusable for the specular objects. To discriminate wrong range data from obtained image data, we have proposed a new algorithm by using the cross section of image block. To show the performance of the proposed method, a series of experiments was, carried out on: the simple geometric shaped objects. The proposed method shows a dramatic improvement of 3D range data better than the typical structured laser light method.