• KIPS Transactions on Software and Data Engineering
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• v.8 no.2
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• pp.89-96
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• 2019

360 degree 3-dimensional lidar sensors and vision cameras are commonly used in the development of autonomous driving techniques for automobile, drone, etc. By the way, existing calibration techniques for obtaining th e external transformation of the lidar and the camera sensors have disadvantages in that special calibration objects are used or the object size is too large. In this paper, we introduce a simple calibration method between two sensors using a spherical object. We calculated the sphere center coordinates using four 3-D points selected by RANSAC of the range data of the sphere. The 2-dimensional coordinates of the object center in the camera image are also detected to calibrate the two sensors. Even when the range data is acquired from various angles, the image of the spherical object always maintains a circular shape. The proposed method results in about 2 pixel reprojection error, and the performance of the proposed technique is analyzed by comparing with the existing methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.9
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• pp.891-897
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• 2008

GPS can provide precise relative navigation information. But it needs a reference station in a close range and is effected by satellite observation environment. In this paper, we propose INS and Vision sensor integrated system with a known landmark geometry. This system is supposed to overcome problems of GPS only system. Using the proposed method, a relative navigation is available without a GPS reference station. The only need for the proposed system is a landmark image which is drawn on the ground. We conduct simple simulation to check the performance of this method. As a result, we confirm that it can improve the relative navigation information.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.284-285
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• 2008

논문에서는 비전센서로 전방도로영상을 획득하여 차선인식과 정을 거쳐 자율주행에 필요한 도로정보를 추출하고 사고를 방지할 수 있게 경보음을 발생하는 기법을 제시한다. 비전을 통해 입력되는 정보중 직선도로나 곡선도로의 외곽에 해당하는 백색 선만을 인식하는 알고리즘이 필요하다. 이러한 알고리즘을 수행하기 위해서는 많은 계산량이 필요로 하기 때문에 실시간의 자율주행 시스템에의 적용은 제약이 수반된다. 본 논문은 이와 같은 문제를 해결하기 위해 세선화 영역 및 차선이탈경보시스템(LDWS) 알고리즘을 제시한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1475-1478
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• 2004

This paper describes map building for the path planning to avoid obstacles with vision sensor and ultrasonic sensor. We get the 2 dimensional information from the processed images of CCD sensor and 1 dimensional range information from ultrasonic sensor. I proposed a way to generate the map which contains these two kinds of information in the program. And we made the biped robot which have 20 DOF with these sensors and get good experimental result to prove the validity of the proposed method.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1821_1822
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• 2009

본 논문에서는 실내 GPS(indoor GPS) 센서와 전방향 비전센서(Omni-directional Mirror)를 융합하여 랜드 마크가 있는 환경에서 선형 위치 추정 알고리즘을 이용한 이동 로봇을 위한 위치 추정 시스템을 제안한다.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.176-182
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• 1999

This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The point data collected by changing robot configuration and sensor measuring are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

• Journal of Broadcast Engineering
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• v.23 no.2
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• pp.274-282
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• 2018

Most occupancy sensors installed in buildings, households and so forth are pyroelectric infra-red (PIR) sensors. One of disadvantages is that PIR sensor can not detect the stationary person due to its functionality of detecting the variation of thermal temperature. In order to overcome this problem, the utilization of camera vision sensors has gained interests, where object tracking is used for detecting the stationary persons. However, the object tracking has an inherent problem such as tracking drift. Therefore, the recognition of humans in static trackers is an important task. In this paper, we propose a CNN-based human recognition to determine whether a static tracker contains humans. Experimental results validated that human and non-humans are classified with accuracy of about 88% and that the proposed method can be incorporated into practical vision occupancy sensors.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1374-1380
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• 2002

Recently, the use of Robot increase little by little for the purpose of developing a welding quality and productivity in the welding part. It is more important to contact the seam for arc welding before moving a welding robot. There are two types of method to contact the seam namely contact and non-contact type largely. In this paper, image processing sensor(a kind of non-contact sensor) is concerned to track the seam by using laser diode and CCD camera. A structured laser diode's light illuminated on the weld groove and the reflected shape is introduced by CCD camera. The image board captures this image and software analyzes this image. The robot is moved and welded exactly as acquired image X-Y data is changed with robot's X-Y value. Also, most of seam tracking are considered by changing the program simply in case of the different weld groove of plane surface.

• Journal of Korea Multimedia Society
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• v.14 no.4
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• pp.517-528
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• 2011

In this paper, we propose an indoor navigation system that can do walk safely to the destination for visually impaired persons. The proposed system analyzes images taken with the camera finds the ID of the marker to identify the absolute position of the pedestrian. Using the distance and angle obtained from IMU(Inertial Measurement Unit) accelerometer sensor and a gyro sensor, the system decides the relative position of a pedestrian for the previous position to determine the next direction. At the same time, we simplify a complex spatial structure in front of user by means of ultrasonic sensors and determine an avoidance direction by estimating the patterns. Then, it uses a few IR(Infrared Rays) sensors to detect stair. Our system offers position of visually impaired persons incorporating multiple sensors and helps users to arrive to destination safely.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.175-175
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• 2004

애니메이션과 컴퓨터 게임 등의 다양한 산업에 이용되고 있는 모션캡쳐 시스템은 현재 카메라를 이용한 고가의 고속 카메라를 사용하여 일반인들이 범용으로 사용하기에는 많은 어려움이 따른다. 이에 본 연구에서는 고가의 고속카메라를 사용하는 대신 저가의 PSD 센서를 사용하여 광학방식의 모션캡쳐 시스템을 구성하였다. 또한 시스템에서 획득한 3 차원 데이터의 정확성을 위해 일반적으로 CCD 카메라에 사용되어지는 카메라 보정 알고리즘을 PSD 모션캡쳐 시스템에 적용하여 손쉽게 보정을 하면서 적은 오차를 가질 수 있는 방법을 제시하였다.(중략)