• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• Journal of the Korea Society of Computer and Information
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• v.27 no.3
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• pp.45-52
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• 2022

A tangible sports game is an exercise game that uses sensors or cameras to track the user's body movements and to feel a sense of reality. Recently, VR indoor sports room systems installed to utilize tangible sports game for physical activity in schools. However, these systems primarily use screen-touch user interaction. In this research, we developed a V-Catch Vision system that uses AI image recognition technology to enable tracking of user movements in three-dimensional space rather than two-dimensional wall touch interaction. We also conducted a usability evaluation experiment to investigate the exercise effects of this system. We tried to evaluate quantitative exercise effects by measuring blood oxygen saturation level, the real-time ECG heart rate variability, and user body movement and angle change of Kinect skeleton. The experiment result showed that there was a statistically significant increase in heart rate and an increase in the amount of body movement when using the V-Catch Vision system. In the subjective evaluation, most subjects found the exercise using this system fun and satisfactory.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.05a
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• pp.399-403
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• 2001

One of the most important factors for a leather quality inspection is its surface condition. So far, a leather quality level has been discriminated by human's eye inspection. But, these kinds of method needs a lot of labor time and cause decision mistakes from an optical illusion. It means leather quality inspection is very subjective and there is no consistency. In this study, we present computer vision based a leather quality inspection system using an Artificial intelligence. Suggested system can give standard spec for a leather quality and take human inspection duty place.

• 한국공간정보시스템학회:학술대회논문집
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• 2007.06a
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• pp.133-138
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• 2007

본 논문에서는 어안렌즈 및 왜곡경향을 조사하고, 기존 보정기법을 토대로 어안렌즈에 적합한 사진측량학적 기법을 이용한 보정기법을 채용하였다. 이를 이용하여 어안렌즈를 보정하여 왜곡계수를 산출하여, 관측한 영상점을 왜곡이 보정된 영상점으로 위치 보정하는 기술을 개발하였다. 본 논문에서 적용된 보정 기술은 컴퓨터비젼분야, 제어계측분야에서 광범위하게 사용되고 있는 어안렌즈의 왜곡보정을 실시하여 영상을 보정하는데 목적이 있다. 이렇게 보정된 어안렌즈 영상은 실내 위치추적 및 모니터링 분야에 사용되고 있는 어안렌즈영상에 정확도 향상에 기여할 수 있으리라 예상된다. 또 본 논문에서는 렌즈 보정기술의 효율성을 높이기 위해서 단영상 왜곡보정 프로그램 및 다수 영상 왜곡 보정 프로그램을 구현하였다. 단영상 프로그램은 로봇의 대략 생산체제를 위해 구현하였으며, 다수영상 프로그램은 사용자 입장에서 구현하였다.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1767_1768
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• 2009

4-step 알고리즘을 이용하여 3차원 이미지 위상 정보를 분석하였다. Carre(1966)에 의하여 제시된 위상 분석 기술은 위상이동에 대하여 설명하고 있다. Wyant(1982)에 의한 4-step 알고리즘은 수많은 PSI(Phase-Shift Interferometry)법[1] 중에서 가장 일반적인 내용이다. 그러나 실험장비 설치 시, 매우 어렵다는 단점이 있다. 실험 과정에서 물체의 3차원 형상을 얻기 위해 매우 간단히 실험 설치를 하였다. 간섭 패턴은 추가적인 렌즈, 거울, 모터와 같은 광학장비 없이 랩뷰 프로그램과 비젼 시스템을 사용하여 구축하였다. 4-step method와 컴퓨터 프로그램에 의해 생성된 unwrapping image에 의해 물체의 wrapped된 이미지를 얻었다. 실험에 의하여 얻어진 간섭패턴을 분석 함으로써, 웨이브 프론트, 강도 그래프, 3차원 형상, 상수 데이터와 같은 다양한 정보를 얻을 수 있었다.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.9
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• pp.92-99
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• 2003

Quality inspection of textile products is an important problem for fabric manufacturers. This paper presents an automatic vision-based system for quality control of web textile fabrics. Typical web material is 1-3m wide and is driven with speeds ranging from 20m/min to 200m/min. At the present, the quality assessment procedures are performed manually by expert. But worker can not detect more than 60％ of the present defect and inspect the fabric if moving faster than 30m/min. To increase the overall quality and homogeneity of textile, an automated visual inspection system is needed fur the productivity. However, the existing inspection system are too expensive to purchase for small companies. In this paper, the proposed PC based real-time inspection algorithm gives low cost textile inspection system, high detection rate with good accuracy and low rate of false alarms. The method shows good results in the detection of several types of fabric defects.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.288-292
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• 2003

The main purpose of this paper is the development of the system which measures the earing rate of aluminum CAN with the CCD camera. In order to optimize imput image, the image object was segregated and the position of the image grasped. In the pre-processing the edges were detected by the Robert mask after improving the definition of image by the histogram equalization. The height of four each ear and angles which occur due to the characteristics of the aluminum CAN are measured manually with the digital vernier calipers in the industrial ground and in the case of the velocity, these require 30 seconds at least by three times measurement per height of one direction of the aluminum. But it took 0.02 seconds when this system was applied. Therefore this system is proven the satisfactory efficiency and reliability as compared to the control result of in industrial ground.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2387-2390
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• 2003

움직이는 물체의 자동 분할은 컴퓨터 비젼의 여러 응용분야에서 중요한 문제로 대두되고 있다. 본 논문에서는 감시 시스템에서 에지와 적응적 임계값을 이용한 효과적인 자동 움직임 분할 방법을 제안하였다. 먼저 연속 영상에서 현재 영상과 배경 영상과의 차를 얻어서 그 히스토그램을 만든다. 이 때 앞에서 얻은 히스토그램은 영상 잡음의 평균이 0 인 가우시안 분포를 가진다고 가정한다. 그리고, 이 히스토그램을 이용하여 영상잡음의 분산을 찾는다 이 분산 값을 이용하여 적응적 임계값과 움직임 영역창을 결정한다. 적응적 임계값에 의한 결과 영상에서 움직이는 물체를 분할하기 위해 본 논문에서는 움직임 영역창을 이용하는 방법을 제안하였다. 이 움직임 영역창에 의해 더욱 효과적인 움직임 분할이 이루어진다. 또, 잡음의 제거를 위해 수학적 모폴로지(mathematical morphology)와 화소의 연결성이 이용된다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.115-120
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• 2000

This study is on the application the image processing algorithm for inspection of the aluminium mill strip surface defect. The image of surface defect data was obtained using the CCD camera with the digital signal board. The edge was found from the difference of pixel intensity between the normal image and defect image. Two step were taken to find the edge in the image processing algorithm. First, noise was removed by using the median filter in the image. Second, the edge was sharpened in detail by using the sharpening convolution filter in the image. Canny algorithm was used to defect the exact edge. The defect section was separated from the original image is to find the coordination point p1 and p2 which include the defect image

• The Journal of Korean Institute of Communications and Information Sciences
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• v.11 no.1
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• pp.1-15
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• 1986

Optic flow is 2D velocity projected on the image plane of 3D velocity of a moving surface element. In this paper, we survey techniques computing optic flows from an image time sequence of moving objects and techniques determining 3D velocities and surface structures of the moving objects from the optic flows determined.