• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.146-153
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• 2015

In order to contain as much information as possible in a single image, a wide FOV(Field-Of-View) imaging system is required. The catadioptric imaging system with hyperbolic cylinder mirror can acquire over 180 degree horizontal FOV realtime panorama image by using a conventional camera. Because the hyperbolic cylinder mirror has a curved surface in horizontal axis, the original image acquired from the imaging system has the geometrical distortion, which requires the image processing algorithm for reconstruction. In this paper, the image reconstruction algorithms for two cases are studied: (1) to obtain an image with uniform angular resolution and (2) to obtain horizontally rectilinear image. The image acquisition model of the hyperbolic cylinder mirror imaging system is analyzed by the geometrical optics and the image reconstruction algorithms are proposed based on the image acquisition model. To show the validity of the proposed algorithms, experiments are carried out and presented in this paper. The experimental results show that the reconstructed images have a uniform angular resolution and a rectilinear form in horizontal axis, which are natural to human.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.3
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• pp.143-154
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• 2001

An algorithm for estimating the lane departure of a vehicle is derived and implemented based on an EDF(edge distribution function) obtained from gray-level images taken by a CCD camera mounted on a vehicle. As the function of edge direction, the EDF is aimed to show the distribution of edge direction and to estimate the possibility of lane departure with respect to its symmetric axis and local mamma. The EDF plays important roles: 1) It reduces noisy effects caused by dynamic road scene. 2) It makes possible lane identification without camera modeling. 3) It also leads LDW(lane departure warning) problem to a mathematical approach. When the situations of lane departure such that the vehicle approaches to lane marks or runs in the vicinity of the lane marks are occurred, the orientation of lane marks in images is changed, and then the situations are immediately reflected to the EDF. Accordingly, the lane departure is estimated by studying the shape of the EDF. The proposed EDF-based algorithm enhanced the adaptability to cope with the random and dynamic road environments, and eventually led to the reliable LDW system.

• Current Optics and Photonics
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• v.3 no.1
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• pp.27-32
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• 2019

We present an autofocus tracking system implemented by the digital refocusing of digital holographic microscopy (DHM) and the tunability of an electrically tunable lens (ETL). Once the defocusing distance of an image is calculated with the DHM, then the focal plane of the imaging system is optically tuned so that it always gives a well-focused image regardless of the object location. The accuracy of the focus is evaluated by calculating the contrast of refocused images. The DHM is performed in an off-axis holographic configuration, and the ETL performs the focal plane tuning. With this proposed system, we can easily track down the object drifting along the depth direction without using any physical scanning. In addition, the proposed system can simultaneously obtain the digital hologram and the optical image by using the RGB channels of a color camera. In our experiment, the digital hologram is obtained by using the red channel and the optical image is obtained by the blue channel of the same camera at the same time. This technique is expected to find a good application in the long-term imaging of various floating cells.

• Journal of Sasang Constitutional Medicine
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• v.18 no.2
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• pp.34-40
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• 2006

1. Objectives We are going to develope 3D Face Recognition Apparatus to analyse the facial characteristics of the Sasangin. In the process, we should identify the recognition rate of the three dimensional position using this Apparatus. 2. Methods We took a photograph of calibrator($280{\times}400mm$) with interval of 20mm longitudinal direction of 10 times using 3D Face Recognition Apparatus. In the practice, we obtained 967 point to the exclusion of points deviating from the visual field of dual camera. And we made a comparison between measurement values and three dimensional standard values to calculate the errors. 3. Results and Conclusions In this test, the average error rate of X axis values was 0.019% and the maximum error rate of X axis values was 0.033%, the average error rate of Y axis values was 0.025% and the maximum error rate of Y axis values was 0.044%, the average error rate of Z axis values was 0.158% and the maximum error rate of Z axis values was 0.269%. This results exhibit much improvement upon the average error rate 1% and the maximum error rate 2.242% of the existing 3D Recognition Apparatus. In conclusion, we assessed that this apparatus was adaptable to abstract the facial characteristic point from three dimensional face shape in the mechanical aspects.

• 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.12 no.3 s.30
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• pp.51-59
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• 2004

In the study, there has been a sharp upward trend in road maintenance cost as the expansion of road networks increases. Running a pavement management system(PMS) is indispensable for efficient and scientific maintenance of the whole road networks with limited maintenance budgets. With a PMS, a maintenance plan should be drawn up after surface conditions are precisely examined and analyzed. The majority of the present PMSs are run by the fact that experts first examine surface conditions on sites, and then enter results into systems. However, considering the actual circumstances of the present time and the increase in paved road hereafter, it is inefficient that experts examine the whole paved roads in person and long-lasting PMSs can not be kept up. As a result, after analyzing the accuracy of 3-D coordinates representing road surfaces that was decided using multi orientation and digital photogrammetry, the average of standard errors turned out to be 0.0427m on the X-axis, 0.0527m on the Y-axis and 0.1539m on the Z-axis. It was found to be good enough to be put to practical use for maps drawn on scales below 1 :1000, which are being currently made and used within the country, and GIS data.

• Journal of Welding and Joining
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• v.16 no.6
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• pp.68-76
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• 1998

A CCD camera with a laser stripe was applied to realized the automatic weld seam tracking. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path. The adaptive Hough transformation was used to extract laser stripes an to obtain specific weld points. It takes relatively long time to process image on-line control using the basic control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter. For this reason, it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The dead zone, where the sensing of weld line is impossible, was eliminated by rotating the camera with its rotating axis centered at the weld torch. When weld lines were detected, the camera angle was controlled in order to get the minimum image data for sensing of weld lines. Consequently, the image processing time was reduced.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.71-72
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• 2006

In this study, automatic assembly and evaluation system fer phone camera module is conceptually designed. The designed core(Auto focus & UV curing, Image Test) equipments adopts a clustering mechanism and compactible structure using index table for minimum tact time. Using a ball screw actuator and absolute encoder in each axis, we can verifies the repeatability and position accuracy of system within ${\pm}3{\mu}m$. In result of simulation test, the proposed system is expected up to 30% in productivity than manual operation.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.185-204
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• 2003

The purpose of this study was to obtain the data for stable and accurate techniques of the free throw in basketball. The subjects of this study were seven male basketball player consisted of college students athletes. Free throw motions were taken by video camera. The three-dimensional coordinates was processed by DLT. The variables were the velocity, the angular velocity of the upper extremity segments, degree, and angular momentum. The result of analysis is summarized as follows. 1. The velocity and angular velocity of the upper extremity segment was showed an gradual increase and a smooth velocity transfer, transferring from proximal segment to distal segment at free throw motion in basketball. 2. The local term and remote term angular velocity momentum of the proximal segment showed larger than that of the distal segment in X, Y, Z axis component all. 3. The remote term angular momentum was showed larger than that of the local term angular momentum in X, Y, Z axis component all. 4. The angular motion of the upper trunk and upper arm, upper arm and forearm was showed in opposite direction and symmetrical angular momentum in local term angular momentum of the Y and Z axis component. 5. All the segments of upper extremity segment was showed left rotation in remote term angular momentum of the Y axis component and right rotation in remote term angular momentum of the Z axis component.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.746-751
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• 2003

A method of measuring the length of defects on the wall of the spent nuclear fuel pool using the image processing and a laser slit beam is proposed. Since the defect monitoring camera is suspended by a crane and hinged to the crane hook, the camera viewing direction can not be adjusted to the orientation that is exactly perpendicular to the wall. Thus, the image taken by the camera, which is horizontally rotated along the axis of the camera supporting beam, is distorted and thus, the precise length can not be measured. In this paper, by using the LASER slit beam generator, the horizontally rotated angle of the camera is estimated. Once the angle is obtained, the distorted image can be easily reconstructed to the image normal to the wall. The estimation algorithm adopts a 3-dimensional coordinate transformation of the image plane where both the laser slit beam and the original image of the defects exist. The estimation equation is obtained by using the information of the beam projected on the wall and the parameters of this equation are experimentally obtained. With this algorithm, the original image of the defect taken at arbitrary rotated angle can be reconstructed to an image normal to the wall. From the result of a series of experiments, the accuracy of the defect is measured within 0.6 and 1.3 % error bound of real defect size in the air and underwater, respectively under 30 degree of the inclined angle of the laser slit beam generator. Also, the error increases as the inclined angle increases upto 60 degree. Over this angle, the defect length can not be measured since the defect image disappears. The proposed algorithm enables the accurate measurement of the defect length only by using a single camera and a laser slit beam.