• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1816-1819
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• 1997

Using the vision system, robotic tasks in unstructured environments can be accompished, which reduces greatly the cost and steup time for the robotic system to fit to he well-defined and structured working environments. This paper proposes a dynamic control scheme for robot manipulator with eye-in-hand camera configuration. To perfom the tasks defined in the image plane, the camera motion Jacobian (image Jacobian) matrix is used to transform the camera motion to the objection position change. In addition, the dynamic learning controller is designed to improve the tracking performance of robotic system. the proposed control scheme is implemented for tasks of tracking moving objects and shown to outperform the conventional visual servo system in convergence and robustness to parameter uncertainty, disturbances, low sampling rate, etc.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.559-564
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• 1994

Recently, a visual servoing for an eye-in-hand robot has become an interesting problem. A distance between a camera and a task object is very useful information for visual servoing. In the previous works for visual servoing, the distance can be obtained from the difference between a reference and a measured feature value of the object such as area on image plane. However, since this feature depends on the object, the reference feature value must be changed when other task object is taken. To overcome this difficulty, this paper presents a novel method for visual servoing. In the proposed method, a blur is used to obtain the distance. The blur, one of the most important features, depends on the focal length of camera. Since it is not affected by the change of object, the reference feature value is not changed although other task object is taken. In this paper, we show a relationship between the distance and the blur, and define the feature jacobian matrix based on camera defocusing to operate the robot. A series of experiments is performed to verify the proposed method.

• 한국정보디스플레이학회:학술대회논문집
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• 2005.07a
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• pp.85-88
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• 2005

A low-cost and high-speed PDP color inspection system can be constructed by using a CCD camera against a colorimeter. Though the inspection can be done using RGB signals obtained by a camera, it has some difficulty to introduce human color sensitivity. Thus, it is quite desirable to convert the RGB values into the XYZ values that can be compared to the values of a colorimeter. Accordingly, the current study proposes a color conversion method that can analytically calculate the RGB-to-XYZ conversion matrix by utilizing the RGB primaries and the reference white. Experiments on Macbeth colorchecker colors showed that the average color difference between the converted XYZ values of the proposed method and the measured XYZ values of a colorimeter is much below the threshold of distinguishing two adjacent color patches.

• The KIPS Transactions:PartB
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• v.13B no.5 s.108
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• pp.499-506
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• 2006

This Paper describes a fast and stable camera pose estimation method for real-time augmented reality systems. From the feature tracking results of a marker on a single frame, we estimate the camera rotation matrix and the translation vector. For the camera pose estimation, we use the shape factorization method based on the scaled orthographic Projection model. In the scaled orthographic factorization method, all feature points of an object are assumed roughly at the same distance from the camera, which means the selected reference point and the object shape affect the accuracy of the estimation. This paper proposes a flexible and stable selection method for the reference point. Based on the proposed method, we implemented a video augmentation system that inserts virtual 3D objects into the input video frames. Experimental results showed that the proposed camera pose estimation method is fast and robust relative to the previous methods and it is applicable to various augmented reality applications.

• Journal of Korea Game Society
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• v.7 no.4
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• pp.63-70
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• 2007

Since the fisheye lens has a wide field of view, it can capture the scene and illumination from all directions from far less number of omnidirectional images. Due to these advantages of the omnidirectional camera, it is widely used in surveillance and reconstruction of 3D structure of the scene In this paper, we present a new self-calibration algorithm of omnidirectional camera from uncalibrated images by considering the inlier distribution. First, one parametric non-linear projection model of omnidirectional camera is estimated with the known rotation and translation parameters. After deriving projection model, we can compute an essential matrix of the camera with unknown motions, and then determine the camera information: rotation and translations. The standard deviations are used as a quantitative measure to select a proper inlier set. The experimental results showed that we can achieve a precise estimation of the omnidirectional camera model and extrinsic parameters including rotation and translation.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.85-90
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• 2000

The fracture toughness and crack propagation behaviors of short nylon66 fiber reinforced Chloroprene rubber nave been Investigated as functions of fiber aspect ratio, fiber content and interphase conditions. The J for crack initiation and rupture were determined for short-fiber reinforced rubber. The values of $J_c$ for most reinforced rubbers were low compared that of matrix. But, $J_r$ at rupture showed a higher value than that of matrix. The crack propagation behaviors were analyzed into 3 patterns with increasing fiber aspect ratio and fiber content. The tearing mechanisms of matrix and fiber reinforced rubber were observed by CCD camera focused on the tip of crack and load-displacement graph. Both cases showed a completely different behaviors

• Proceedings of the Korean Vacuum Society Conference
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• 2010.02a
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• pp.472-472
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• 2010

The tomography has played a key role in tokamak plasma diagnostics for image reconstruction. The Phillips-Tikhonov (P-T) regularization method was attempted in this work to reconstruct cross-sectional phantom images of the plasma by minimizing the gradient between adjacent pixel data. Recent studies about the comparison of the several tomographic reconstruction methods showed that the P-T method produced more accurate results. We have studied existing Laplacian matrix used in Phillips-Tikhonov regularization method and developed modified Laplacian matrix (Modified L). The comparison of the reconstruction result by the modified L and existing L showed that modified L produced more accurate result. The difference was significantly pronounced when a portion of plasma was reconstructed. These results can be utilized in the Edge Plasma diagnostics; especially in divertor diagnostics on tokamak a large impact is expected. In addition, accurate reconstruction results from received data in only one direction were confirmed through phantom test by using P-T method with modified L. These results can be applied to the tangentially viewing pin-hole camera diagnostics on tokamak.

• Convergence Security Journal
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• v.8 no.4
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• pp.161-166
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• 2008

This paper proposes a new approach to align 3D data sets by using curvatures of feature surface. We use the Gaussian curvatures and the covariance matrix which imply the physical characteristics of the model to achieve registration of unaligned 3D data sets. First, the physical characteristics of local area are obtained by the Gaussian curvature. And the camera position of 3D range finder system is calculated from by using the projection matrix between 3D data set and 2D image. Then, the physical characteristics of whole area are obtained by the covariance matrix of the model. The corresponding points can be found in the overlapping region with the cross-projection method and it concentrates by removed points of self-occlusion. By the repeatedly the process discussed above, we finally find corrected points of overlapping region and get the optimized registration result.

• Journal of the Korean School Mathematics Society
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• v.7 no.2
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• pp.81-97
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• 2004

This paper is a study on the understanding process of「Matrix and Graph」on discrete mathematics using TI-92 calculator. For this purpose, we investigated the understanding process of two middle school students learning the concepts of matrix and graph using TI-92 calculator. In this process, we collected qualitative data using recorder and video camera. Then we categorized these data as follows: students' attitude related to using technology, understanding process of meaning, expression and operation of matrix and graph, mathematical communication, etc. From this, we have the following conclusions: First, students inquired out the meaning and role of matrix by themselves using calculator. We could see that calculator can do the role of good learning partner to them. Second, students realized their own mistakes when they used calculator on the process of learning matrix. So we found that calculator could form the self-leading learning circumstance on learning matrix. Third, calculators reinforce the mathematical communication in learning matrix and graph. That is, calculator could be a good mediator to reinforce mathematical communication between teacher and students, among students on learning matrix and graph.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.1
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• pp.127-135
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• 2006

The image-based 3D modeling is the technique of generating a 3D graphic model from images acquired using cameras. It is being researched as an alternative technique for the expensive 3D scanner. In this paper, I propose the image-based 3D modeling system using calibrated camera. The proposed algorithm for rendering 3D model is consisted of three steps, camera calibration, 3D shape reconstruction and 3D surface generation step. In the camera calibration step, I estimate the camera matrix for the image aquisition camera. In the 3D shape reconstruction step, I calculate 3D volume data from silhouette using pyramidal volume intersection. In the 3D surface generation step, the reconstructed volume data is converted to 3D mesh surface. As shown the result, I generated relatively accurate 3D model.