• Proceedings of the IEEK Conference
• /
• 2003.07e
• /
• pp.2323-2326
• /
• 2003

Theoretical analysis of the depth measurement system with the use of a single camera and a rotating mirror has hem done. A camera in front of a rotating mirror acquires a sequence of reflected images, from which depth information is extracted. For an object pint at a longer distance, the corresponding pixel in the sequence of images moves at a higher speed. In this paper, the principle d the depth measurement-based on the relation of the pixel movement speed and the depth of objects have been investigated. Also, necessary mathematics to implement the technique is derived and presented. The factors affecting the measurement precision have been studied Analysis shows that the measurement m increases with the increase of depth. The rotational angle of the mirror between two image-takings also affects the measurement precision. Experimental results using the real camera-mirror setup are reported.

• Journal of the Korean Society of Safety
• /
• v.30 no.6
• /
• pp.110-116
• /
• 2015

A 3D camera-based on-site work-related musculoskeletal disorder risk assessment(WMDs) tool has been developed. The device consists of Kinect a 3D camera manufactured by Microsoft, a servo-motor, and a mobile robot. To complement inherent narrow field of view(FOV) of Kinect, Kinect is rotated according to PID servo-control algorithm by a servo-motor attached underneath, to track movement of a subject, producing skeleton-based motion data. With servo-control, full 360 degrees tracking of a test subject is possible by single Kinect. It was found from experimental tests that the proposed device can be successfully employed for on-site WMDs risk assessing tool.

• Journal of Industrial Technology
• /
• v.20 no.B
• /
• pp.195-200
• /
• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2000.11a
• /
• pp.207-217
• /
• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• Journal of ILASS-Korea
• /
• v.23 no.1
• /
• pp.22-29
• /
• 2018

The purpose of this study is to investigate the macroscopic spray characteristics and spray pattern of a gasoline direct injection (GDI) injector according to the increase of injection pressure. The macroscopic spray characteristics, such as a spray tip penetration and spray angle, were measured and analyzed from the frozen spray images, which are obtained from the spray visualization system including the high-speed camera, light-source, long-distance microscope (LDM). The spray pattern was analyzed through the deviation of the center of the spray plum and images were acquired using Nd: YAG Laser and ICCD(Intensified charge coupled device) camera. From the experiment and analysis, it revealed that the injection pressure have a significant influence on the spray tip penetration and spray pattern. However, the injection pressure have little influence on the spray angle. The increase of injection pressure induced the reduction of a closing delay. In addition, the deviation of spray center increase with the increase of injection pressure and the distance from a nozzle tip.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2575-2577
• /
• 2000

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

• Journal of the Korean Society of Safety
• /
• v.32 no.6
• /
• pp.98-103
• /
• 2017

In Korea, the guideline for the bridge safety inspection requests to assess surface degradation, including crack, efflorescence, spalling, and so on, for the rating of concrete bridges. Currently, the assessment of efflorescence is performed based on the visual inspection of expertized engineers, which may result in subjective inspection result. In this study, a novel method using a hyperspectral camera is proposed for objective and accurate assessment of concrete efflorescence. The hyperspectral camera acquires the light intensity for a number of continuous spectral bands of light for each pixel in an image, which makes the hyperspectral imaging technique provides more detailed information than a color camera that collects intensity for only three bands corresponding to RGB (red, green, and blue) colors. A stepwise assessment algorithm is proposed based on the spectral features to decompose efflorescence area from the inspected concrete area. The algorithm is tested in the laboratory test using two concrete specimens, one of which is dark colored with efflorescence on a surface while the other is bright concrete without efflorescence. The test shows high accuracy and applicability of the proposed efflorescence assessment using a hyperspectral camera.

• Journal of Sensor Science and Technology
• /
• v.14 no.4
• /
• pp.278-285
• /
• 2005

This paper describes techniques of camera calibration and artificial landmarks detection for the automatic charging of a mobile robot, equipped with a fish-eye camera in the direction of its operation for movement or surveillance purposes. For its identification from the surrounding environments, three landmarks employed with infrared LEDs, were installed at the charging station. When the robot reaches a certain point, a signal is sent to the LEDs for activation, which allows the robot to easily detect the landmarks using its vision camera. To eliminate the effects of the outside light interference during the process, a difference image was generated by comparing the two images taken when the LEDs are on and off respectively. A fish-eye lens was used for the vision camera of the robot but the wide-angle lens resulted in a significant image distortion. The radial lens distortion was corrected after linear perspective projection transformation based on the pin-hole model. In the experiment, the designed system showed sensing accuracy of ${\pm}10$ mm in position and ${\pm}1^{\circ}$ in orientation at the distance of 550 mm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.36-39
• /
• 1997

In this paper, we described an approach to design of precision optical system for visual inspection of solder joint defects of SMC(surface mount components) on PCBs(Printed Circuit Board). The illumination system, consisting of three tiered LED lamps and one main camera and four side view camera, is implemented to generated iso-contour on the solder joint according to gradient of the soldered surface. We analyze LED design parameter such as incident angle, diameter of LED ring, and so on to acquire uniform illumination.

• Proceedings of the Optical Society of Korea Conference
• /
• 1990.02a
• /
• pp.82-86
• /
• 1990

A camera type optical bench system equipped with a lens collimator and an image analyzer is fabricated to measure the equivalent focal length and distortion of lenses. This system is automatized by the computer which controls stepping motors. A nodal slide optical bench system equipped with an off axis reflective collimator is fabricated and improved by using rotating arms and air bearing system. distortion measurement on a wide angle lens using the camera method and the nodal slide method is reported. Defocusing error in the distortion measurement with the nodal slide optical bench is analyzed and improved by iteration method to search the correct image point.