• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1040-1044
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• 2005

This paper presents a method for the robot localization and calibration using the ultrasonic and the radio frequency. The distance between the receiver and a beacon can be computed by using the difference between times of flight. The presented method uses the gradient of the maximum amplitude of the ultrasonic in order to measure the time of flight precisely. The measured three distances between the receiver and the beacon are used to compute the robot position by the direct inverse method and the iterated least square approximation method. This paper is defined the calibration as the problem to find the location of 3 beacons and 3 robots, and presents 3 methods for it and found the 2B2R method as the best among them.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2007년도 공동학술대회 논문집
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• pp.167-172
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• 2007

The frequency-domain small-loop electromagnetic (EM) instruments are increasingly used for shallow environmental and geotechnical surveys because of their portability and speed. However, it is well known that the data quality is generally so poor that quantitative interpretation of the data is not justified in many cases. We present an inversion method that allows the correction for the calibration errors and also constructs multidimensional resistivity models. The key point in this method is that the data are collected at least at two different heights. The forward modeling used in the inversion is based on an efficient 3-D finite-difference method, and its solution was checked against 2-D finite-element solution. The synthetic and real data examples demonstrate that the joint inversion recovers reliable resistivity models from multi-frequency data severely contaminated by the calibration errors.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권6호
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• pp.2689-2708
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• 2016

Multi-camera systems which integrate two or more low-cost digital cameras are adopted to reach higher ground coverage and improve the base-height ratio in low altitude remote sensing. To guarantee accurate multi-camera integration, the geometric relationship among cameras must be determined through platform calibration techniques. This paper proposed a combined two-step platform calibration method. In the first step, the static platform calibration was conducted based on the stable relative orientation constraint and convergent conditions among cameras in static environments. In the second step, a dynamic platform self-calibration approach was proposed based on not only tie points but also straight lines in order to correct the small change of the relative relationship among cameras during dynamic flight. Experiments based on the proposed two-step platform calibration method were carried out with terrestrial and aerial images from a multi-camera system combined with four consumer-grade digital cameras onboard an unmanned aerial vehicle. The experimental results have shown that the proposed platform calibration approach is able to compensate the varied relative relationship during flight, acquiring the mosaicing accuracy of virtual images smaller than 0.5pixel. The proposed approach can be extended for calibrating other low-cost multi-camera system without rigorously mechanical structure.

• 한국전자통신학회논문지
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• 제14권6호
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• pp.1139-1144
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• 2019

정밀측정장비의 성능을 진단 및 확인하는 교정 시스템은 교정결과의 신뢰성 확보를 위해 국제규격의 요구조건을 준수함으로 교정결과의 오판정 위험을 최소화하고 있다. 본 논문에서는 교정기관에서 고성능의 장비를 획득 및 운영하기에 불가능한 경우 불확도 요인 분석을 통한 교정 시스템 적합성 평가 방안과 가드밴드 기법을 이용하여 성능기준을 대체하는 최적화된 시험기준 산출모형을 제안한다. 제안된 방법은 교정 시스템의 정량적인 평가기준과 국제규격에서 요구되는 허위수락위험 확률 기준을 충족을 위한 최적화된 시험기준을 제공한다.

• 제어로봇시스템학회논문지
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• 제4권4호
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• pp.487-493
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• 1998

Camera calibration is the process of determining the coordinate relationship between a camera image and its real world space. Accurate calibration of a camera is necessary for the applications that involve quantitative measurement of camera images. However, if the camera plane is parallel or near parallel to the calibration board on which 2 dimensional objects are defined(this is called "ill-conditioned"), existing solution procedures are not well applied. In this paper, we propose a neural network-based approach to camera calibration for 2D images formed by a mono-camera or a pair of cameras. Multi-layer perceptrons are developed to transform the coordinates of each image point to the world coordinates. The validity of the approach is tested with data points which cover the whole 2D space concerned. Experimental results for both mono-camera and stereo-camera cases indicate that the proposed approach is comparable to Tsai's method［8］. Especially for the stereo camera case, the approach works better than the Tsai's method as the angle between the camera optical axis and the Z-axis increases. Therefore, we believe the approach could be an alternative solution procedure for the ill -conditioned camera calibration.libration.

• 항공우주기술
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• 제12권2호
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• pp.147-155
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• 2013

천리안위성 기상탑재체 적외채널의 복사보정에서는 기본 복사보정식을 기반으로 다섯 개의 알고리즘이 추가되어 있다. 일반적으로 기하보정은 복사보정 이후 수행하므로, 복사보정 완료시각은 기하보정 처리의 시작시각을 결정한다. 본 논문에서는 기하보정 처리의 시작시각을 앞당기는 방법을 제안하기 위해서, 기본 복사보정 및 정밀 복사보정(기본 복사보정에 다섯 개의 알고리즘 추가) 결과를 입력으로 수행한 기하보정 처리의 정확도를 비교 분석한 내용을 정리하였다. 처리 속도가 빠른 기본 복사보정의 결과와 정확한 복사보정 값을 포함하는 정밀복사보정의 결과를 입력으로 각각의 기하보정 처리의 정확도를 분석하는 실험을 수행하였고, 두 경우 모두 기하보정 정확도 요구사항을 만족시킴을 검증하였다. 따라서 기하보정 처리 속도를 향상시키기 위해서, 기본 복사보정식으로 생성된 결과를 기하보정 처리의 입력으로 사용할 수 있음을 확인하였다.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2006년도 학술발표회 논문집
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• pp.643-646
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• 2006

An operational calibration is applied to improve radar rainfall intensity using rainfall obtained from rain gauge. The method is applied under the assumption of the temporal continuity of rainfall, the rainfall intensity from rain gauge is linearly related to that from radar. The method is applied to the cases of typhoon and rain band using the reflectivity of CAPPI at 1.5km obtained from Jindo radar. The CAPPI is obtained by bilinear interpolation. For the two cases, the rainfall intensities obtained by operational calibration are very consistent with the ones by the rain gauges. The present study shows that the correlation between the rainfall intensity by operational calibration and rain gauges is better than the one between the rainfall intensity by M-P relationship and rain gauges. The correlation coefficients between the total rainfall intensity obtained by operational calibration and rain gauges in typhoon and rain band cases are 0.99 and 0.97, respectively. Areal rainfalls are estimated using the field of calibration factor interpolated by Barnes objective analysis. The method applied here shows an improvement in the areal rainfall estimation. For the cases of typhoon and rain band, the correlation between the areal rainfall by operational calibration and rain gauges is better than the one between the area rainfall by M-P relationship and rain gauges. The correlation coefficients between the areal rainfall obtained by operational calibration and rain gauges in typhoon and rain band cases are 0.97 and 0.84, respectively. The present study suggests that the operational calibration is very useful for the real-time estimation of rainfall intensity and areal rainfall.

• 반도체디스플레이기술학회지
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• 제22권1호
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• pp.72-77
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• 2023

In many manufacturing settings, including the semiconductor industry, products are completed by producing and assembling various components. Sorting out from randomly mixed parts and classification operations takes a lot of time and labor. Recently, many efforts have been made to select and assemble correct parts from mixed parts using robots. Automating the sorting and classification of randomly mixed components is difficult since various objects and the positions and attitudes of robots and cameras in 3D space need to be known. Previously, only objects in specific positions were grasped by robots or people sorting items directly. To enable robots to pick up random objects in 3D space, bin picking technology is required. To realize bin picking technology, it is essential to understand the coordinate system information between the robot, the grasping target object, and the camera. Calibration work to understand the coordinate system information between them is necessary to grasp the object recognized by the camera. It is difficult to restore the depth value of 2D images when 3D restoration is performed, which is necessary for bin picking technology. In this paper, we propose to use depth information of RGB-D camera for Z value in rotation and movement conversion used in calibration. Proceed with camera calibration for accurate coordinate system conversion of objects in 2D images, and proceed with calibration of robot and camera. We proved the effectiveness of the proposed method through accuracy evaluations for camera calibration and calibration between robots and cameras.

• 한국대기환경학회지
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• 제27권2호
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• pp.133-141
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• 2011

In this study, different calibration approaches for reduced sulfur compounds (RSCs) were investigated by using thermal desorption coupled with gas chromatography (GC) and pulsed flame photometric detection (PFPD). To evaluate the effects of calibration procedures, gaseous standards of 4 RSCs ($H_2S$, $CH_3SH$, DMS, and DMDS) prepared at 10 ppm level were analyzed at 7 loading injection volumes (40, 60, 80, 100, 160, 240, and 320 ${\mu}L$). The results were then compared with calibration curves made with the Z (zero offset) and N (non-zero offset) method. The concentrations of unknown samples were then quantified by using R (ratio) method in which the slope values are compared between standards and samples. Secondly, in A (average) method, results obtained from a multi-point analysis of unknown samples were also averaged to extract representative values for each sample. Results of both experiments showed that analytical error of low molecular weight components (such as $H_2S$ and $CH_3SH$) was greatly expanded with the Z method. In conclusion, the combined application of N-A method was the more realistic approach to reduce biases in the quantification of RSCs.

• 한국정밀공학회지
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• 제4권4호
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• pp.36-42
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• 1987

Very accurate calibration is needed to index tables which are necessary for precision angle measurement. The repeatability of index table is less than 0.2 second, so that attentions should be paid to choosing devices to be used in the calibration of index tables. The auto- collimators have been used in the calibration of index tables, but the repeatability of auto- collimators is bad compared with that of index table. In place of autocollimators, we described a method which uses electric comparators which are possessed by most precision measurement laboratories. Electric comparators are set to measure small angle displacement without interrupting the rotation of index tables and the signals of two electric comparators are added to remove the run-out errors of the shafts of index tables. Two index tables have been calibrated simulataneously by this method and the measurement data have been analyzed by the least squares method. We compare the calibration results with those of methods using autocollimator and auto- matic autocollimator and are able to know that the data of electric comparator method lie between the data of autocollimator methods. The repeatability of measurement is less than 0.02 second. The electric comparator method is economical and capable of reducing the uncertainty of the measurement.