• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.652-655
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• 2004

The geometry of satellite image captured by linear pushbroom scanner is different from that of frame camera image. Since the exterior orientation parameters for satellite image will vary scan line by scan line, the epipolar geometry of satellite image differs from that of frame camera image. As we know, 2D affine orientation for the epipolar image of linear pushbroom scanners system are well-established by using the collinearity equation (Testsu Ono, 1999). Also, another epipolar geometry of linear pushbroom scanner system is recently established by Habib(2002). He reported that the epipolar geometry of linear push broom satellite image is realized by parallel projection based on 2D affine models. Here, in this paper, we compared the Ono's method with Habib's method. In addition, we proposed a method that generates epipolar resampled images. For the experiment, IKONOS stereo images were used in generating epipolar images.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.851-858
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• 2009

In this study, we propose a new input device using vision technology for positioning of multiple DOFs. The input device is composed of multiple Tags on a transparent table and a vision camera below the table. Vision camera detects LEDs at the bottom of each Tag to derive information of the ID, position and orientation. The information are used to determine position and orientation of remote target DOFs. Our developed approach is very reliable and effective, especially when the corresponding DOFs are from many independent individuals. We show an application example with a SCARA robot to prove the flexibility and extendability.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.183-185
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• 2003

Spatially referenced mobile mapping (MM) images contain rich information of man-made objects , e.g. road centerlines, buildings, light poles, traffic signs ,billboards and line trees etc. Therefore, the applications in transportation, urban 3D reconstruction, utility management are implemented increasingly. It’s a fundamental issue lies in MM image process that how to orient this image in the object space including interior orientation of camera and the exterior orientation of image. In this paper, the algorithm of automatic acquirement of DC (Digital Camera) parameters based on MM images is illustrated. And then, the mapping between image space and object space for MM images is described.

• 한국정밀공학회지
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• 제15권11호
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.179-183
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• 2002

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. radial distortion causes an inward or outward displacement of a given Image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.65-69
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• 1997

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. Radial distortion causes an inward or outward displacement of a given image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly. It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.117-121
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• 2001

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. Radial distortion causes an inward or outward displacement of a given image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly. It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.

• 전자공학회논문지B
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• 제31B권2호
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• pp.56-68
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• 1994

The objective of camera calibration is to determine the internal optical characteristics of camera and the three-dimensional position and orientation of camera with respect to the real world. Calibration procedure for computer vision should be automatical, accurate and applicable to general purpose cameras and lenses. In this paper, we present camera calibration method which meets the above requirements. The algorithm is based on the two-stage method which takes into account lens distortion in the second stage. In this paper, the overdetermined nonlinear system is established in terms of the constraints to all directions and our calibration algorithm is proposed which is constructed by using Marquardt iterations and our calibration algorithm is proposed which is constructed by using Marquardt iteration method in solving nonlinear equations. Experimental results indicate that lens distortion should be taken into consideration for the calibration of the general-purpose lens. With 24 calibration points acquired out of 512$\times$512 image, the proposed algorithm came up with average error of less than 1 pixel and showed a higher accuracy over the conventional two-stage method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권4호
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• pp.2075-2092
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• 2017

Person re-identification is to match pedestrians observed from non-overlapping camera views. It has important applications in video surveillance such as person retrieval, person tracking, and activity analysis. However, it is a very challenging problem due to illumination, pose and viewpoint variations between non-overlapping camera views. In this work, we propose a viewpoint invariant method for matching pedestrian images using orientation of pedestrian. First, the proposed method divides a pedestrian image into patches and assigns angle to a patch using the orientation of the pedestrian under the assumption that a person body has the cylindrical shape. The difference between angles are then used to compute the similarity between patches. We applied the proposed method to real-time global multi-object tracking across multiple disjoint cameras with non-overlapping field of views. Re-identification algorithm makes global trajectories by connecting local trajectories obtained by different local trackers. The effectiveness of the viewpoint invariant method for person re-identification was validated on the VIPeR dataset. In addition, we demonstrated the effectiveness of the proposed approach for the inter-camera multiple object tracking on the MCT dataset with ground truth data for local tracking.

• 한국측량학회지
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• 제30권2호
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• pp.211-221
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• 2012

회전식 라인 카메라로 취득한 전방위 영상을 실내 공간정보 서비스에 활용하려면 취득한 영상을 실내 좌표계를 기준으로 정교하게 참조할 수 있어야 한다. 이에 본 연구는 실내 전방위 영상의 외부표정요소 - 취득한 시점의 카메라의 위치와 자세를 정확하게 추정 할 수 있는 지오레퍼런싱 방법을 제안한다. 이를 위하여 먼저 회전식 라인 카메라를 기하학적으로 모델링하여 전방위 영상에 대한 공선방정식을 유도한다. 실내 기준점을 공선방정식에 적용하여 실내 전방위 영상의 외부표정요소를 추정한다. 실측데이터에 적용한 결과 외부표정요소의 위치는 1.4mm의 정밀도로, 자세는 $0.05^{\circ}$의 정밀도로 추정할 수 있었다. 수평방향으로 약3픽셀, 수직방향으로 약 10픽셀 정도의 잔차가 남아 있었다. 특히 수직방향으로는 렌즈의 왜곡에 의한 시스템적 오차가 포함되어 있는 것으로 분석되었고 이는 카메라 캘리브레이션을 통해 제거되야 할 것으로 판단된다. 제시된 방법을 이용하여 정밀하게 지오레퍼런싱된 전방위 영상으로부터 고해상도 실내 3차원 모델을 생성하고 이에 기반한 정교한 증강현실 서비스가 가능할 것으로 기대된다.