• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.333-335
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• 2006

In this page, we developed the inspection system for automobile parts using the laser vision sensor. Laser vision sensor has gotten 2 dimensions information and third dimension information of laser vision camera using the vision camera. Used JIG and ROBOT for inspection position transfer. Also, computer integration system developed that control system component pal1s and manage data measurement information. Compare sensor measurement result with CAD Data and verified measurement result effectiveness taking advantage of CAD to get information of measurement object.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.4
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• pp.39-43
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• 2004

A typical theme of active vision systems is gaze-fixing of a camera. Here gaze-fixing of a camera means by steering orientation of a camera so that a given point on the object is always at the center of the image. For this we need to combine a function to analyze image data and a function to control orientation of a camera. This paper presents an algorithm for gaze-fixing of a camera where image analysis and orientation control are designed in a frame. At this time, for avoiding difficulties in implementing and aiming for real-time applications we design the algorithm to be a simple closed-form without using my information related to calibration of the camera or structure estimation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.223-229
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• 2017

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.119-124
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• 1999

This paper presents new approach to technology pattern recognition of camera back cover and test of soldering. In real-time implementing of pattern recognition camera back cover and test of soldering, the MVB-03 vision board has been used. Image can be captured from standard CCD monochrome camera in resolutions up to 640$\times$480 pixels. Various options re available for color cameras, a synchronous camera reset, and linescan cameras. Image processing os performed using Texas Instruments TMS320C31 digital signal processors. Image display is via a standard composite video monitor and supports non-destructive color overlay. System processing is possible using c30 machine code. Application software can be written in Borland C++ or Visual C++

• Journal of Sensor Science and Technology
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• v.21 no.2
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• pp.96-102
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• 2012

This paper addresses photometric distortion problems of a compact 3D scanning sensor which is composed of a micro-size and inexpensive camera-projector system. Recently, many micro-size cameras and projectors are available. However, erroneous 3D scanning results may arise due to the poor and nonlinear photometric properties of the sensors. This paper solves two inherent photometric distortions of the sensors. First, the response functions of both the camera and projector are derived from the least squares solutions of passive and active calibration, respectively. Second, vignetting correction of the vision camera is done by using a conventional method, however the projector vignetting is corrected by using the planar homography between the image planes of the projector and camera, respectively. Experimental results show that the proposed technique enhances the linear properties of the phase patterns that are generated by the sensor.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.1
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• pp.15-25
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• 2010

The objective of this study is to investigate the optimal arrangement of cameras used for the robot's vision control scheme. The used robot's vision control scheme involves two estimation models, which are the parameter estimation and robot's joint angle estimation models. In order to perform this study, robot's working region is divided into three work spaces such as left, central and right spaces. Also, cameras are positioned on circular arcs with radius of 1.5m, 2.0m and 2.5m. Seven cameras are placed on each circular arc. For the experiment, nine cases of camera arrangement are selected in each robot's work space, and each case uses three cameras. Six parameters are estimated for each camera using the developed parameter estimation model in order to show the suitability of the vision system model in nine cases of each robot's work space. Finally, the robot's joint angles are estimated using the joint angle estimation model according to the arrangement of cameras for robot's point-position control. Thus, the effect of camera arrangement used for the robot's vision control scheme is shown for robot's point-position control experimentally.

• Journal of Information Processing Systems
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• v.19 no.6
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• pp.730-744
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• 2023

The topic of this paper is the recognition of human activities using egocentric vision, particularly captured by body-worn cameras, which could be helpful for video surveillance, automatic search and video indexing. This being the case, it could also be helpful in assistance to elderly and frail persons for revolutionizing and improving their lives. The process throws up the task of human activities recognition remaining problematic, because of the important variations, where it is realized through the use of an external device, similar to a robot, as a personal assistant. The inferred information is used both online to assist the person, and offline to support the personal assistant. With our proposed method being robust against the various factors of variability problem in action executions, the major purpose of this paper is to perform an efficient and simple recognition method from egocentric camera data only using convolutional neural network and deep learning. In terms of accuracy improvement, simulation results outperform the current state of the art by a significant margin of 61% when using egocentric camera data only, more than 44% when using egocentric camera and several stationary cameras data and more than 12% when using both inertial measurement unit (IMU) and egocentric camera data.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.5
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• pp.161-172
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• 2018

This paper proposed the robot vision control method to track a moving rigid body target using the vision system model that can actively control camera parameters even if the relative position between the camera and the robot and the focal length and posture of the camera change. The proposed robotic vision control scheme uses a batch method that uses all the vision data acquired from each moving point of the robot. To process all acquired data, this robot vision control scheme is divided into two cases. One is to give an equal weight for all acquired data, the other is to give weighting for the recent data acquired near the target. Finally, using the two proposed robot vision control schemes, experiments were performed to estimate the positions of a moving rigid body target whose spatial positions are unknown but only the vision data values are known. The efficiency of each control scheme is evaluated by comparing the accuracy through the experimental results of each control scheme.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.438-444
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• 2018

Structured light vision system has been widely used in 3D surface profiling. Usually, it is composed of a camera and a laser which projects a line on the target. Calibration is necessary to acquire 3D information using structured light stripe vision system. Conventional calibration algorithms have found the pose of the camera and the equation of the stripe plane of the laser under the same coordinate system of the camera. Therefore, the 3D reconstruction is only possible under the camera frame. In most cases, this is sufficient to fulfill given tasks. However, they require multiple images which are acquired under different poses for calibration. In this paper, we propose a calibration algorithm that could work by using just one shot. Also, proposed algorithm could give 3D reconstruction under both the camera and laser frame. This would be done by using newly designed calibration structure which has multiple vertical planes on the ground plane. The ability to have 3D reconstruction under both the camera and laser frame would give more flexibility for its applications. Also, proposed algorithm gives an improvement in the accuracy of 3D reconstruction.

• Journal of Welding and Joining
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• v.19 no.2
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• pp.200-207
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• 2001

Three-diemnsional bead profile was measured using the biprism stereo vision sensor in GMAW, which consists of an optical filter, biprism and CCD camera. Since single CCD camera is used, this system has various advantages over the conventional stereo vision system using two cameras such as finding the corresponding points along the horizontal scanline. In this wort, the biprism stereo vision sensor was designed for the GMAW, and the linear calibration method was proposed to determine the prism and camera parameters. Image processing techniques were employed to find the corresponding point along the pool boundary. The ism-intensity contour corresponding to the pool boundary was found in the pixel order and the filter-based matching algorithm was used to refine the corresponding points in the subpixel order. Predicted bead dimensions were in broad agreements with the measured results under the conditions of spray mode and humping bead.