대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제36권6호
  • /
  • Pages.645-651
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  • 2012
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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기구 메커니즘의 영상 정보를 이용한 부표 로봇의 영상 안정화

Digital Image Stabilization of Robot Buoy Using the Image of Mechanism

  • 임은 (서울과학기술대학교 NID융합기술대학원) ;
  • 명호준 (서울과학기술대학교 NID융합기술대학원) ;
  • 김영진 (서울과학기술대학교 나노생산기술연구소) ;
  • 임충혁 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김동환 (서울과학기술대학교 기계시스템디자인공학과)
  • Im, Eun (NID Graduate School, Seoul National University of Science and Technology) ;
  • Myeong, Ho-Jun (NID Graduate School, Seoul National University of Science and Technology) ;
  • Kim, Young-Jin (Nano Manufacturing Research Center, Seoul National University of Science and Technology) ;
  • Yim, Choong-Hyuk (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Dong-Hwan (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 투고 : 2012.01.04
  • 심사 : 2012.04.10
  • 발행 : 2012.06.01
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초록

본 논문은 부표로봇에 부착된 카메라 영상의 흔들림을 보정하기 위하여 새로운 방법을 제안한다. 본 연구에서는 부표로봇의 각도측정에 사용하는 자이로 센서의 누적오차 및 노이즈 등의 문제를 해결하기 위해 새로운 기구 메커니즘을 영상처리와 결합한 방법을 제안한다. 이 알고리즘은 특징 점을 추출하기 위한 타깃을 제안한 기구에 부착하여 타깃의 모형 특징을 기반으로 영상을 보정하는 방법이다.

In this paper, we propose a new method for stabilizing the image captured from a camera mounted on a buoy robot. In this study, in order to solve the problem of cumulative errors and noise produced by a general gyro sensor measuring the orientation angle of the buoy robot, we propose new method for stabilizing the image. In this method, image processing techniques are combined with a newly designed target mounting mechanism that adapts to wave fluctuations. New target extraction and angle estimation techniques are introduced, along with the new mounting mechanism used for the camera and the target, which produce a stabilized image even if the buoy robot is on fluctuating waves.

키워드

참고문헌

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피인용 문헌

  1. Study on the Remote Controllability of Vision Based Unmanned Vehicle Using Virtual Unmanned Vehicle Driving Simulator vol.40, pp.5, 2016, https://doi.org/10.3795/KSME-A.2016.40.5.525