• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.1-7
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• 1996

This paper addresses the control problem of a mobile robot supporting a task robot with needs to be positioned precisely. The main difficulty residing in the precise control of a mobile robot supporting a task robot is providing an accurate and stable base for the task robot. That is, the end-plate of the mobile robot which is the base of the task robot can not be positioned accurately without external position sensors. This difficulty is resolved in this paper through the vision information obtained from the camera attached at the end of a task robot. First of all, the camera parameters were measured by using the images of a fixed object captured by the camera. The measured parameters include the rotation, the position, the scale factor, and the focal length of the camera. These parameters could be measured by using the features of each vertex point for a hexagonal object and by using the pin-hole model of a camera. Using the measured pose(position and orientation) of the camera and the given kinematics of the task robot, we calculate a pose of the end-plate of the mobile robot, which is used for the precise control of the mobile robot. Experimental results for the pose estimations are shown.

• 한국컴퓨터정보학회논문지
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• 제10권6호
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• pp.177-186
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• 2005

본 논문에서는 DEM(Digital Elevation Model)과 산 영상을 매핑하여 3차원 정보를 생성하고 이를 이용한 비전기반 카메라 위치인식방법을 제안한다. 일반적으로 인식에 사용된 영상의 특징들은 카메라뷰에 따라 내용이 변해 정보양이 증가하는 단점이 있다. 본 논문에서는 카메라뷰에 무관한 기하학의 불변특징을 추출하고 제안하는 유사도 평가함수와 Graham 탐색방법을 사용한 정확한 대응점을 산출하여 카메라 외부인수를 계산하였다. 또한 그래픽이론과 시각적 단서를 이용한 3차원 정보생성 방법을 제안하였다. 제안하는 방법은 불변 점 특징 추출단계, 3차원 정보 생성단계, 외부인수 산출단계의 3단계로 구성된다. 실험에서는 제안한 방법과 기존방법을 비교, 분석함으로써 제안한 방법의 우월성을 입증하였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권10호
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• pp.569-574
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• 2003

Computer vision system is broadly adapted like as autonomous vehicle system, product line inspection, etc., because it has merits which can deal with environment flexibly. However, for applying it for that industry, it has to clear the problem that recognize position parameter of itself. So that computer vision system stands in need of camera calibration to solve that. Camera calibration consists of the intrinsic parameter which describe electrical and optical characteristics and the extrinsic parameter which express the pose and the position of camera. And these parameters have to be reorganized as the environment changes. In traditional methods, however, camera calibration was achieved at off-line condition so that estimation of parameters is in need again. In this paper, we propose a method to the calibration of camera using line correspondence in image sequence varied environment. This method complements the corresponding errors of the point corresponding method statistically by the extraction of line. The line corresponding method is strong by varying environment. Experimental results show that the error of parameter estimated is within 1% and those is effective.

• 국제학술발표논문집
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• The 1th International Conference on Construction Engineering and Project Management
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• pp.841-844
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• 2005

Computer vision technology can be used to interpret the images captured by web cameras installed on construction sites to automatically quantify the results. This information can be used for quality control, productivity measurement and to direct construction. Steel frame construction is particularly well suited for automatic monitoring as all structural members can be viewed from a small number of camera locations, and three-dimensional computer models of steel structures are frequently available in a standard electronic format. A system is being developed that interprets the 3-D model and directs a camera to look for individual members as regular intervals to determine when each is in place and report the results. Results from a simple lab-scale system are presented along with preliminary full-scale development.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.59-60
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.9-10
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• 2008

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2006년도 동계학술발표대회 논문집
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• pp.109-109
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• 2006

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.255-258
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• 1995

Surface profile is an important paramerer to evaluate accuracy of machined worpiece. It is necessary to acquire this data by in-process measurement. Recent researchers have introduced Machine Vision technique to achieve it. But it is difficult to apply it to industry field yet. In this study, in-process measuring system of surface profile is developed using CCD camera. The effect of illuminance according to incident angle is investigated and surface profile from surface tester and illuminance graph are compared experimentally.

• 대한전기학회논문지
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• 제38권12호
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• pp.963-970
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• 1989

The navigation problem for a mobile robot is investigated. Specifically, it is proposed that simple guide-marks be introduced and the navigation scheme be generated in conjunction with the guide-marks sensed through camera vision. For autonomous navigation, it was shown that a triple guide-mark system is more effective than a single guide-mark in estimating the position and orientation of mobile robot itself. The navigation system is tested via a mobile robot HERO-I equipped with a single camera in laboratory environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.695-698
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• 2000

Round-cornering machines are mainly used for cornering of stiffners for ship buildings. In the present time they have been operated manually by operators. so they are need to be operated automatically without regard to any shapes of stiffners. We developed the automatic round cornering system which consists of CCd Camera, PC and laser diode to detect automatically the edge of stiffners to be processed