• 전기학회논문지P
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• 제60권2호
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• pp.63-67
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• 2011

This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

• 전기학회논문지
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• 제56권5호
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• pp.973-979
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• 2007

A laser vision system is developed to measure the three-dimensional feature of an object. This system consists of two low cost cameras and a cross laser. One camera and a cross laser are used to measure a plane equation of an object. Using this information, the other camera measures a hole size of an object. The proposed system provides 0.05 mm accuracy measurement systems with relatively low cost.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2006년도 춘계학술대회 학술발표 논문집 제16권 제1호
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• pp.56-58
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• 2006

Camera calibration in machine vision is the process of determining the intrinsic cameara parameters and the three-dimensional (3D) position and orientation of the camera frame relative to a certain world coordinate system. On the other hand, Takagi-Sugeno-Kang (TSK) fuzzy system is a very popular fuzzy system and approximates any nonlinear function to arbitrary accuracy with only a small number of fuzzy rules. It demonstrates not only nonlinear behavior but also transparent structure. In this paper, we present a novel and simple technique for camera calibration for machine vision using TSK fuzzy model. The proposed method divides the world into some regions according to camera view and uses the clustered 3D geometric knowledge. TSK fuzzy system is employed to estimate the camera parameters by combining partial information into complete 3D information. The experiments are performed to verify the proposed camera calibration.

• 센서학회지
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• 제13권1호
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• pp.27-34
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• 2004

Camera calibration is an important and fundamental procedure for the application of a vision sensor to 3D problems. Recently many camera calibration methods have been proposed particularly in the area of robot vision. However, the reliability of data used in calibration has been seldomly considered in spite of its importance. In addition, a camera model can not guarantee good results consistently in various conditions. This paper proposes methods to overcome such uncertainty problems of data and camera models as we often encounter them in practical camera calibration steps. By the use of the RANSAC (Random Sample Consensus) algorithm, few data having excessive magnitudes of errors are excluded. Artificial neural networks combined in a two-step structure are trained to compensate for the result by a calibration method of a particular model in a given condition. The proposed methods are useful because they can be employed additionally to most existing camera calibration techniques if needed. We applied them to a linear camera calibration method and could get improved results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.116.4-116
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• 2002

$\textbullet$In case of using overhead camera system, mobile robot moves under static working area. $\textbullet$Mobile robot must use onboard camera system to work under wide working area. $\textbullet$Mobile robot must have wireless LAN to remove restriction of movement. $\textbullet$Onboard camera system must have wireless LAN environment. $\textbullet$We develop embedded vision platform using onboard camera.

• 한국생산제조학회지
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• 제23권5호
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• pp.485-497
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• 2014

This paper presents the robot vision control schemes based on the Newton-Raphson (N-R) and the Extended Kalman Filter (EKF) methods for the tracking of moving targets. The vision system model used in this study involves the six camera parameters. The difference is that refers to the uncertainty of the camera's orientation and focal length, and refers to the unknown relative position between the camera and the robot. Both N-R and EKF methods are employed towards the estimation of the six camera parameters. Based on the these six parameters estimated using three cameras, the robot's joint angles are computed with respect to the moving targets, using both N-R and EKF methods. The two robot vision control schemes are tested by tracking the moving target experimentally. Given the experimental results, the two robot control schemes are compared in order to evaluate their strengths and weaknesses.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.790-797
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• 2001

A simple computer vision technology to measure the middle-ranged depth with a mono camera and a plain mirror is proposed. The proposed system is structured with the rotating mirror in front of the fixed mono camera. In contrast to the previous stereo vision system in which the disparity of the closer object is larger than that of the distant object, the pixel movement caused by the rotating mirror is bigger for the pixels of the distant object in the proposed system. Being inspired by such distinguished feature in the proposed system, the principle of the depth measurement based on the relation of the pixel movement and the distance of object is investigated. Also, the factors to influence the precision of the measurement are analysed. The benefits of the proposed system are low price and less chance of occlusion. The robustness for practical usage is an additional benefit of the proposed vision system.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권5호
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• pp.223-228
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• 2017

SMT는 전자 부품을 흡착하여 PCB상에 정확히 실장 하는 장비이다. 이를 위해서는 중간 위치에 설치된 카메라 앞에서 정지하여 비전 검사를 한 후 실장 위치로 이동한다. 그 이동 경로의 타입은 16가지가 되며, 본 논문에서는 (sLa-Camera-pLa)타입에 대한 3가지 경로의 구동 시간을 비교하였다. 첫 번째는 비전 검사를 위해 카메라 앞에서 정지한 후 실장 하는 방법(stop-motion), 두 번째는 카메라 앞에서 정지하지 않고 움직이면서 비전 검사를 한 후 실장하는 방법(fly1-motion), 세 번째는 X축과 Y축이 최고의 높은 속도를 갖도록 한 후 비전 검사를 하고 실장하는 방법(fly2-motion)이다. 3가지 방법에 대한 구동 시간을 계산하여 비교한 결과 모두 동일한 시간이 걸리는 것을 알 수 있었다. 따라서(sLa-Camera-pLa)타입은 장비 구조의 변경 없이 stop-motion방법으로도 가장 빠른 시간에 실장할 수 있음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.344-352
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• 1999

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje shipyard. In order to realize automatic welding system, robots have to be equipped with a sensing system to recognize the position of the welding panels. In this research, a camera vision system(CVS) is developed to detect the position of base panels for sub-assembly line in shipbuilding. Two camera vision systems are used in two different stages (fitting and welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• 전기학회논문지
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• 제58권3호
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• pp.605-613
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• 2009

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.