• 한국산업융합학회 논문집
• /
• 제22권4호
• /
• pp.427-433
• /
• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• Current Optics and Photonics
• /
• 제2권6호
• /
• pp.554-562
• /
• 2018

This study presents a color 3D scanner based on the laser structured-light imaging method that can simultaneously acquire 3D shape data and color of a target object using a single camera. The 3D data acquisition of the scanner is based on the structured-light imaging method, and the color data is obtained from a natural color image. Because both the laser image and the color image are acquired by the same camera, it is efficient to obtain the 3D data and the color data of a pixel by avoiding the complicated correspondence algorithm. In addition to the 3D data, the color data is helpful for enhancing the realism of an object model. The proposed scanner consists of two line lasers, a color camera, and a rotation table. The line lasers are deployed at either side of the camera to eliminate shadow areas of a target object. This study addresses the calibration methods for the parameters of the camera, the plane equations covered by the line lasers, and the center of the rotation table. Experimental results demonstrate the performance in terms of accurate color and 3D data acquisition in this study.

• 한국해양공학회지
• /
• 제35권3호
• /
• pp.183-190
• /
• 2021

Tomographic particle image velocimetry (PIV) is a widely used method that measures a three-dimensional (3D) flow field by reconstructing camera images into voxel images. In 3D measurements, the setting and calibration of the camera's mapping function significantly impact the obtained results. In this study, a camera self-calibration technique is applied to tomographic PIV to reduce the occurrence of errors arising from such functions. The measured 3D particles are superimposed on the image to create a disparity map. Camera self-calibration is performed by reflecting the error of the disparity map to the center value of the particles. Vortex ring synthetic images are generated and the developed algorithm is applied. The optimal result is obtained by applying self-calibration once when the center error is less than 1 pixel and by applying self-calibration 2-3 times when it was more than 1 pixel; the maximum recovery ratio is 96%. Further self-correlation did not improve the results. The algorithm is evaluated by performing an actual rotational flow experiment, and the optimal result was obtained when self-calibration was applied once, as shown in the virtual image result. Therefore, the developed algorithm is expected to be utilized for the performance improvement of 3D flow measurements.

• 한국전자통신학회논문지
• /
• 제18권1호
• /
• pp.1-10
• /
• 2023

본 논문에서는 기존 유선기반 CCTV 감시시스템과 IP 카메라 시스템에 국산 무선통신기술을 활용한 고화질 영상의 원거리 무선 전송 기술에 대해 설계 및 구현에 대해 성능 평가을 하였다. 무선 다중 IP 카메라 전송 단말장치및 무선통신 RF 모듈간 연동시험과 무선 다중 IP 카메라 기반 영상전송시스템 통합 연동시험으로 영상 전송 시 모듈 연동 적합성을 확인한다.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2021년도 추계학술대회
• /
• pp.109-111
• /
• 2021

최근 라이트 필드 카메라를 통한 컴퓨터 비전 연구가 활발히 진행되고 있다. 라이트 필드 카메라에서는 공간정보를 가지고 있기 때문에, depth map estimation, super resolution, 3D object detection 과 같은 분야에서 다양한 연구가 진행되고 있다. 본 논문에서는 라이트필드 카메라를 통해 취득되는 7×7 배열의 이미지를 통해 blur 영상에서 객체를 검출하기 위한 방법을 제안한다. 기존의 카메라에서 취약한 blur 영상을 라이트 필드 카메라를 통하여 검출한다. 제안하는 방법은 SSD 알고리즘을 사용하여 실제 라이트 필드 카메라에서 취득한 blur 영상을 사용하여 성능평가를 수행한다

• Nuclear Engineering and Technology
• /
• 제56권1호
• /
• pp.56-63
• /
• 2024

In high radiation fields, gamma cameras suffer from pulse pile-up, resulting in poor energy resolution, count losses, and image distortion. To overcome this problem, various methods have been introduced to reduce the size of the aperture or pixel, reject the pile-up events, and correct the pile-up events, but these technologies have limitations in terms of mechanical design and real-time processing. The purpose of this study is to develop a real-time gamma camera to evaluate the radioactive contamination in high radiation fields. The gamma camera is composed of a pinhole collimator, NaI(Tl) scintillator, position sensitive photomultiplier (PSPMT), signal processing board, and data acquisition (DAQ). The pulse pile-up is corrected in real-time with a field programmable gate array (FPGA) using the start time correction (STC) method. The STC method corrects the amplitude of the pile-up event by correcting the time at the start point of the pile-up event. The performance of the gamma camera was evaluated using a high dose rate ¹³⁷Cs source. For pulse pile-up ratios (PPRs) of 0.45 and 0.30, the energy resolution improved by 61.5 and 20.3%, respectively. In addition, the image artifacts in the ¹³⁷Cs radioisotope image due to pile-up were reduced.

• 한국의학물리학회지:의학물리
• /
• 제20권2호
• /
• pp.51-61
• /
• 2009

컴프턴 카메라는 컴프턴 산란현상의 기하학적 해석을 통해 감마선원의 3차원적 위치분포를 고정된 위치에서 찾아내는 신개념의 감마선 영상장치이다. 기존의 감마선 영상장치에서는 필수적으로 사용되는 기계적 집속기를 사용하지 않기 때문에 높은 영상 감도를 제공할 수 있으며, 다중 추적자 기능을 제공한다는 장점이 있어 차세대 감마선 영상장치로서 주목을 받고 있다. 본 연구에서는 Geant4 몬테칼로 전산모사 툴키트를 이용하여 사용자 친화형의 컴프턴 카메라 시뮬레이터를 개발하였다. 시뮬레이터의 정확성을 검증하기 위하여 한양대학교에서 개발 중인 이중 산란형 컴프턴 카메라의 실험 결과와 비교하였다. 영상 해상도의 경우 선원의 에너지가 높아짐에 따라 해상도가 향상되는 동일한 경향을 보였으나, 시뮬레이터 결과에서 약 1 mm 정도 우수하게 평가되었다. 영상 감도의 경우 실험에서 2~3배 정도 높게 평가되었다. 이러한 결과들은 우연 동시반응에 기인한 것으로, 실험에서 획득한 유효반응들은 전산모사와는 달리 우연한 동시계수에의한 데이터가 상당수 포함되어 있기 때문에 영상 해상도는 상대적으로 저조하고, 영상 감도는 높게 나타난 것으로 판단된다. 개발된 시뮬레이터를 이용하여 새로운 구조의 컴프턴 카메라에 대한 성능을 평가하였다. 단일 산란형 컴프턴 카메라의 경우 산란부를 다층 구조로 개발할 때 4대의 산란부 검출기를 사용하는 것이 최상의 성능을 보이는 것으로 평가되었고, 그 이상 사용할 경우 성능이 오히려 저하됨을 확인하였다.

• 한국항공우주학회지
• /
• 제38권5호
• /
• pp.490-498
• /
• 2010

본 논문에서는 소형 무인항공기에 영상 획득용 카메라를 장착하여 지상의 이동물체를 자동으로 추적하고 지상으로 영상정보를 지속적으로 전송하는 기술 및 관련 이론에 대한 연구를 다루고 있다. 본 연구에 사용된 회전익 무인항공기에는 소형 고성능의 영상획득 장치와 지상표적에 대한 식별 지향 자동추적 알고리즘이 탑재되었고 더욱 안정된 영상추적을 위해 영상 안정화 기법을 추가적으로 적용하였다. 최종적으로 모든 연구내용에 대해 비행시험을 수행하여 그 성능을 검증하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.678-681
• /
• 2004

In this paper, efficient tracking of a moving object using optimal representative blocks is implemented by a mobile robot with a pan-tilt camera. The key idea comes from the fact that when the image size of moving object is shrunk in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object can be improved by changing the size of representative blocks according to the object image size. Motion estimation using Edge Detection(ED) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data since these schemes suffer from the heavy computational load. In this paper, the optimal representative block that can reduce a lot of data to be computed, is defined and optimized by changing the size of representative block according to the size of object in the image frame to improve the tracking performance. The proposed algorithm is verified experimentally by using a two degree-of-freedom active camera mounted on a mobile robot.

• 한국통신학회논문지
• /
• 제41권8호
• /
• pp.843-850
• /
• 2016

This paper introduces a novel modulation scheme for vehicular communication in taking advantage of existing LED lights available on a car. Our proposed 2-Phase Shift Keying (2-PSK) is a spatial modulation approach in which a pair of LED light sources in a car (either rear LEDs or front LEDs) is used as a transmitter. A typical camera (i.e. low frame rate at no greater than 30fps) that either a global shutter camera or a rolling shutter camera can be used as a receiver. The modulation scheme is a part of our Image Sensor Communication proposal submitted to IEEE 802.15.7r1 (TG7r1) recently. Also, a neural network approach is applied to improve the performance of LEDs detection and decoding under the noisy situation. Later, some analysis and experiment results are presented to indicate the performance of our system