• Spatial Information Research
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• v.10 no.3
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• pp.407-419
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• 2002

In this study, the design of 4S-Van system is discussed fur the implementation of laser mapping system. Laser device is fast and accurate sensor that acquires 3D road and surface data. The orientation laser sensor is determined by loosely coupled (D)GPS/INS Integration. Considering current system architecture, (D)GPS/INS integration is performed far performance analysis of direct georeferencing and self-calibration is performed for interior and exterior orientation and displacement. We utilized 3 laser sensors for compensation and performance improvement. 3D surface data from laser scanner and texture image from CCD camera can be used to implement 3D visualization.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.04a
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• pp.151-159
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• 2003

This study presents method for self-calibration of the SEM(Scanning Electron Microscope) stereo image using the standard microprobe with same grid pattern and using parallel and central perspective projection equation. Result showed that parallel projection method is more suitable for standard microprobe. The maximum error of 3D coordinates acquired by this method did not exceed 5 $\mu\textrm{m}$, and DSM(Digital Surface Model) for three dimensional measurement of the rock sample was generated by the digital photogrammetry. This result can be used for quantification of micro scale change of shape and analysis of the micro morphology of rock due to weathering.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• Journal of Korean Society for Geospatial Information Science
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• v.23 no.2
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• pp.27-38
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• 2015

In this study, the 3D position coordinates were calculated for the targets using DLT and self-calibration bundle adjustment with additional parameters in close-range photogrammetry. And then, the accuracy of the results were analysed. For this purpose, the results of camera calibration and orientation parameters were calculated for each images by performing reference surveying using total station though the composition of experimental conditions attached numerous targets. To analyze the accuracy, 3D position coordinates were calculated for targets that has been identically selected and compared with the reference coordinates obtained from a total station. For the image coordinate measurement of the stereo images, we performed the ellipse fitting procedure for measuring the center point of the circular target. And then, the results were utilized for the image coordinate for targets. As a results from experiments, position coordinates calculated by the stereo images-based photogrammetry have resulted out the deviation of less than an average 4mm within the maximum error range of less than about 1cm. From this result, it is expected that the stereo images-based photogrammetry would be used to field of various close-range photogrammetry required for precise accuracy.

• Journal of Broadcast Engineering
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• v.11 no.4 s.33
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• pp.495-506
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• 2006

In this paper, we propose a self-calibration of a multi-camera system using factorization techniques for realistic contents generation. The traditional self-calibration algorithms for multi-camera systems have been focused on stereo(-rig) camera systems or multiple camera systems with a fixed configuration. Thus, it is required to exploit them in 3D reconstruction with a mobile multi-camera system and another general applications. For those reasons, we suggest the robust algorithm for general structured multi-camera systems including the algorithm for a plane-structured multi-camera system. In our paper, we explain the theoretical background and practical usages based on a projective factorization and the proposed affine factorization. We show experimental results with simulated data and real images as well. The proposed algorithm can be used for a 3D reconstruction and a mobile Augmented Reality.

• Korean Journal of Remote Sensing
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• v.19 no.6
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• pp.431-445
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• 2003

In this paper, we experimentally investigated the precision of 3D positioning using 4S-Van images in photograrmmetric perspective. The 3D calibration target was built over building facade outside and was captured separately by two CCD cameras installed in 4S-Van. After then, we determined the interior orientation parameter for each CCD camera through self-calibration technique. With the interior orientation parameter computed, the bundle adjustment was performed to obtain the exterior orientation parameters simultaneously for two CCD cameras using calibration target image and object coordinates. The reverse lens distortion coefficients were computed and acquired by least squares method so as to introduce lens distortion into epipolar line. It was shown that the reverse lens distortion coefficients could transform image coordinates into lens distorted image coordinates within about 0.5 pixel. The proposed semi-automatic matching scheme incorporated with lens distorted epipolar line was implemented with scene images captured by 4S-Van in moving. The experimental results showed that the precision of 3D positioning from 4S-Van images in photograrmmetric perspective is within 2cm in the range of 20m from the camera.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.1141-1144
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• 2005

In this paper, we propose an automatic displacement system for testing stability of structure. Photogrammetry is a method which can measure accurate 3D data from 2D images taken from different locations and which is suitable for analyzing and measuring the displacement of structure. This paper consists of camera calibration, feature extraction using coded target & retro-reflective circle, 3D reconstruction and analyzing accuracy. Multi-view camera which is used for measuring displacement of structure is placed with different location respectively. Camera calibration calculates trifocal tensor from corresponding points in images, from which Euclidean camera is calculated. Especially, in a step of feature extraction, we utilize sub-pixel method and pattern recognition in order to measure the accurate 3D locations. Scale bar is used as reference to measure. the accurate value of world coordinate..

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.182-185
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• 2005

Satellite cameras are calibrated before launch in detail and in general, but it cannot be guaranteed that the geometry is not changing during launch and caused by thermal influence of the sun in the orbit. Modem satellite imaging systems are based on CCD-line sensors. Because of the required high sampling rate the length of used CCD-lines is limited. For reaching a sufficient swath width, some CCD-lines are combined to a longer virtual CCD-line. The images generated by the individual CCD-lines do overlap slightly and so they can be shifted in x- and y-direction in relation to a chosen reference image just based on tie points. For the alignment and difference in scale, control points are required. The resulting virtual image has only negligible errors in areas with very large difference in height caused by the difference in the location of the projection centers. Color images can be related to the joint panchromatic scenes just based on tie points. Pan-sharpened images may show only small color shifts in very mountainous areas and for moving objects. The direct sensor orientation has to be calibrated based on control points. Discrepancies in horizontal shift can only be separated from attitude discrepancies with a good three-dimensional control point distribution. For such a calibration a program based on geometric reconstruction of the sensor orientation is required. The approximations by 3D-affine transformation or direct linear transformation (DL n cannot be used. These methods do have also disadvantages for standard sensor orientation. The image orientation by geometric reconstruction can be improved by self calibration with additional parameters for the analysis and compensation of remaining systematic effects for example caused by a not linear CCD-line. The determined sensor geometry can be used for the generation? of rational polynomial coefficients, describing the sensor geometry by relations of polynomials of the ground coordinates X, Y and Z.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.116-124
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• 2011

A service robot can identify its own position relative to landmarks, the locations of which are known in advance. The main contribution of this research is that it gives various ways of making the self-localizing error smaller by referring to special landmarks which are developed as high gain reflection material and coded array associations. In this paper, the authors propose a set of indices to evaluate the accuracy of self-localizing methods using the selective reflection landmark and infrared projector, and the indices are derived from the sensitivity enhancement using 3D distortion calibration of camera. And then, the accurarcy of self-localizing a mobile robot with landmarks based on the indices is evaluated, and a rational way to minimize to reduce the computational cost of selecting the best self-localizing method. The simulation results show a high accuracy and a good performance.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.22 no.3
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• pp.327-335
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• 2011

A study on the RCS of a self-manufactured active transponder, which has a manually adjustable RCS, for SAR(Synthetic Aperture Radar) external calibration and image analysis at X-band is presented in this paper. The RCS of the active transponder was comparably analyzed using the lab-test and the COSMO-SkyMed SAR system, and also precisely analyzed the difference between the adjusted and estimated RCSs. A maximum RCS of the designed and manufactured active transponder is 60 dBsm. The active transponders with 60 dBsm and the adjusted RCS of 40 dBsm were measured using the single target calibration technique(STCT) and 2D target scanning technique(2DTST). And the extracted RCS using power-spill integration technique in a SAR image was compared with the measured RCS of active transponder. The comparison results show that the measured and extracted RCSs are 59.7 dBsm, 40.2 dBsm and 57.3 dBsm, 39.2 dBsm, respectively.