• 한국멀티미디어학회논문지
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• 제10권6호
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• pp.716-725
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• 2007

In this paper we describe a motion tracking algorithm for 3D human animation using stereo vision system. This allows us to extract the motion data of the end effectors of human body by following the movement through segmentation process in HIS or RGB color model, and then blob analysis is used to detect robust shape. When two hands or two foots are crossed at any position and become disjointed, an adaptive algorithm is presented to recognize whether it is left or right one. And the real motion is the 3-D coordinate motion. A mono image data is a data of 2D coordinate. This data doesn't acquire distance from a camera. By stereo vision like human vision, we can acquire a data of 3D motion such as left, right motion from bottom and distance of objects from camera. This requests a depth value including x axis and y axis coordinate in mono image for transforming 3D coordinate. This depth value(z axis) is calculated by disparity of stereo vision by using only end-effectors of images. The position of the inner joints is calculated and 3D character can be visualized using inverse kinematics.

• 한국항행학회논문지
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• 제17권3호
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• pp.354-360
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• 2013

모션 및 무인 차량의 깊이 제어를 위해 스테레오 비전 분석을 하였다. 스테레오 비전에서 3차원 좌표의 깊이 정보는 스테레오 이미지 사이의 포인트를 식별한 후 삼각 측량을 통해 얻을 수 있다. 그러나 항상 몇몇 이유 때문에 삼각 측량의 오류가 발생한다. 비전 삼각 측량의 이러한 오류는 카메라의 위치와 방향에 주의하여 배열함으로써 완화 될 수 있다. 본 논문에서는 무인 차량을 위해 카메라의 최적의 위치와 방향을 결정하는 방법을 제시하였다.

• 한국전기전자재료학회논문지
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• 제34권5호
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• pp.371-381
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• 2021

A machine vision inspection system consists of a camera, optics, illumination, and image acquisition system. Especially a scanning system has to be made to measure a large inspection area. Therefore, a machine vision line scan camera needs a line scan light source. A line scan light source should have a high light intensity and a uniform intensity distribution. In this paper, an offset calibration and slope calibration methods are introduced to obtain a uniform light intensity profile. Offset calibration method is to remove the deviation of light intensity among channels through adding intensity difference. Slope calibration is to remove variation of light intensity slope according to the control step among channels through multiplying slope difference. We can obtain an improved light intensity profile through applying offset and slope calibration simultaneously. The proposed method can help to obtain clearer image with a high precision in a machine vision inspection system.

• 대한기계학회논문집A
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• 제37권4호
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• pp.447-459
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• 2013

실제 산업현장에서 비젼 시스템을 적용하기에는 로봇 비젼 제어알고리즘의 기구학모델의 정확도, 로봇이 움직이는 동안 카메라 초점거리와 방위에 대한 보정, 3 차원 물리적 좌표에서 2 차원 카메라 좌표로의 매핑에 대한 이해 등 해결해야 할 많은 문제점들이 있다. 본 논문에 제안된 비젼 시스템 모델은 카메라와 로봇 사이의 상대적인 위치가 알려지지 않아도 제어가 가능하고, 카메라 보정 문제를 해결하기 위해 6 개의 카메라 매개변수를 가지는 비젼 시스템 모델을 제시하였으며, 이를 이용하여 로봇 비젼 제어알고리즘 개발에 N-R 방법과 EKF 방법을 적용하였다. 최종적으로 N-R 과 EKF 방법에 의하여 개발된 로봇 비젼 제어 알고리즘의 위치 정밀도와 데이터 처리 시간을 얇은 막대 배치작업을 수행하여 비교하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.631-632
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• 2006

The assembly of camera lens modules fur the mobile phone has not been automated so far. They are still assembled manually because of high precision of all parts and hard-to-recognize lens by vision camera. In addition, the very short life cycle of the camera phone lens requires flexible and intelligent automation. This study proposes a fast and accurate identification system of the parts by distributing the camera for 4 degree of freedom assembly robot system. Single or multi-cameras can be installed according to the part's image capture and processing mode. It has an agile structure which enables adaptation with the minimal job change. The framework is proposed and the experimental result is shown to prove the effectiveness.

• 한국생산제조학회지
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• 제8권6호
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.169-172
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• 2002

A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which feeds foster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.

• 한국기계가공학회지
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• 제6권3호
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• pp.24-30
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• 2007

The FPCs(Flexible Printed Circuit) are currently used in several electronic products like digital cameras, cellular phones because of flexible material characteristics. Because the FPC is usually small size and flexible, only one FPC should not enter chip mounting process, instead, several FPCs are placed on the large rigid pallette and enter into the chip mounting process. Currently the job of mounting FPC on the pallette is carried by totally manual way. Thus, the goals of the research is develop the automatic machine of FPC mounting on pallette using vision alignment. Instead of using two cameras or using moving one camera, the proposed vision system with only one fixed camera is adopted. Moreover, the two picker heads which can handle two FPCs simultaneously are used to make process time shortened. The procedure of operation is firstly to measure alignment error of FPC, correct alignment errors, and finally mount well-aligned FPC on the pallette. The vision technology is used to measure alignment error accurately, and precision motion control is used in correcting errors and mounting FPC.

• 한국정밀공학회지
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• 제20권12호
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• pp.105-114
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• 2003

In this study, a dicing machine with vision system was built and an algorithm for automatic alignment was developed for dual camera system. The system had a macro and a micro inspection tool. The algorithm was formulated from geometric relations. When a wafer was put on the cutting stage within certain range, it was inspected by vision system and compared with a standard pattern. The difference between the patterns was analyzed and evaluated. Then, the stage was moved by x, y, $\theta$ axes to compensate these differences. The amount of compensation was calculated from the result of the vision inspection through the automatic alignment algorithm. The stage was moved to the compensated position and was inspected by vision for checking its result again. Accuracy and validity of the algorithm was discussed from these data.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.584-587
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• 2002

A vision sensor measure range data using laser light source. This sensor generally use patterned laser which shaped single line. But this vision sensor cannot satisfy new trend which needs laster and more precise processing. The sensor's sampling rate increases as reduced image processing time. However, the sampling rate can not over 30fps, because a camera has mechanical sampling limit. If we use multi line laser pattern, we will measure multi range data in one image. In the case of using same sampling rate camera, number of 2D range data profile in one second is directly proportional to laser line's number. For example, the vision sensor using 5 laser lines can sample 150 profiles per second in best condition.