• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.1
• /
• pp.99-107
• /
• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Journal of the Korea Institute of Building Construction
• /
• v.23 no.1
• /
• pp.69-79
• /
• 2023

In this study, an experimental study was conducted on the development of crack monitoring technology in buildings using a mechanochromic sensor. After attaching a mechanochromic sensor to the cracks induced in the concrete specimen, the color variation image of the sensor according to the progress of the cracks was taken. In addition, a method of analyzing a sensor color variation image was proposed, and an equation for deriving a crack's width from the relationship between the analysis result and the crack width was also proposed. In addition, the possibility of using an mechanochromic sensor for monitoring cracks in buildings was confirmed through the verification of crack width monitoring technology.

• Applied Chemistry for Engineering
• /
• v.34 no.1
• /
• pp.80-85
• /
• 2023

New yellow quinoline-dione dye derivatives were designed and synthesized for use in image sensor color filters. The synthesized compounds have a basic chemical structure composed of quinoline and dione groups. New materials were evaluated on the basis of their optical and thermal properties under conditions mimicking those of a commercial device fabrication process. A comparison of their related performances revealed that, between the two prepared compounds, 2-(3-hydroxyquinolin-2(1H)-ylidene)-1H-indene-1,3(2H)-dione (HQIDO) exhibited the superior performance as an image sensor color filter material, including a solubility greater than 0.5 wt% in propylene glycol monomethyl ether acetate solvent and a high decomposition temperature of 298 ℃, respectively. The results suggest that HQIDO can be used as a yellow dye additive in an image sensor colorant.

• Journal of Korea Multimedia Society
• /
• v.13 no.5
• /
• pp.641-650
• /
• 2010

Color image sensors (CIS) output color images through image sensors and image signal processing. Image sensors that convert light to electrical signal are divided into CMOS image sensor and CCD image sensor according to transferring method of signal charge. In general, a CIS has RGB output signals from tri-stimulus XYZ of the scene through image signal processing. This paper presents an adaptive colorimetric analysis method to obtain chromaticity and luminance using CIS under various environments. An image sensor for the use of colorimeter is characterized based on the CIE standard colorimetric observer. We use the method of least squares to derive a colorimetric characterization matrix between camera RGB output signals and CIE XYZ tristimulus values. We first survey the camera characterization in the standard environment then derive a SGL(shutter-gain-level) function which is relationship between luminance and auto exposure (AE) characteristic of CIS, and read the status of an AWB(auto white balance) function. Then we can apply CIS to measure luminance and chromaticity from camera outputs and AE resister values without any preprocessing. Camera RGB outputs, register values, and camera photoelectric characteristic are used to analyze the colorimetric results for real scenes such as chromaticity and luminance. Experimental results show that the proposed method is valid in the measuring performance. The proposed method can apply to various fields like surveillant systems of the display or security systems.

• Journal of Sensor Science and Technology
• /
• v.21 no.3
• /
• pp.211-216
• /
• 2012

Fires are the most common disaster and early fire detection is of great importance to minimize the consequent damage. Simple sensors including smoke detectors are widely used for the purpose but they are able to sense fires only at close proximity. Recently, due to the rapid advances of relevant technologies, vision-based fire sensing has attracted growing attention. In this paper, a novel visual sensing technique to automatically detect fire is presented. The proposed technique consists of multiple steps of image processing: pixel-level, block-level, and frame level. At the first step, fire flame pixel candidates are selected based on their color values in YIQ space from the image of a camera which is installed as a vision sensor at a fire scene. At the second step, the dynamic parts of flames are extracted by comparing two consecutive images. These parts are then represented in regularly divided image blocks to reduce pixel-level detection error and simplify following processing. Finally, the temporal change of the detected blocks is analyzed to confirm the spread of fire. The proposed technique was tested using real fire images and it worked quite reliably.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.18 no.5
• /
• pp.919-926
• /
• 2023

In this paper, we implemented the surveillance camera system capable of day and night shooting. To this end, it is designed to capture clear images even at night using a CMOS image sensor as well as an IR-LED. In addition, a relatively simple motion detection algorithm was proposed through color model separation. Motions can be detected by extracting only the H channel from the color model, dividing the image into blocks, and then applying the block matching method using the average color value between consecutive frames. When motions are detected during filming, an alarm sounds automatically and a day and night motion detection system is implemented that can capture and save the event screen to a PC.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.5
• /
• pp.2400-2405
• /
• 2013

We detect the obstacle for the UGV(unmanned ground vehicle) from the compound image which is generated by stereo vision sensor masking the depth image and color image. Stereo vision sensor can gathers the distance information by stereo camera. The obstacle information from the depth compound image can be send to mobile robot and the robot can localize the indoor area. And, we test the performance of the mobile robot in terms of distance between the obstacle and the robot's position and also test the color, depth and compound image respectively. Moreover, we test the performance in terms of number of frame per second which is processed by operating machine. From the result, compound image shows the improved performance in distance and number of frames.

• IEIE Transactions on Smart Processing and Computing
• /
• v.6 no.3
• /
• pp.175-182
• /
• 2017

In this paper, we present a multi-depth generation method using a time-of-flight (ToF) fusion camera system. Multi-view color cameras in the parallel type and ToF depth sensors are used for 3D scene capturing. Although each ToF depth sensor can measure the depth information of the scene in real-time, it has several problems to overcome. Therefore, after we capture low-resolution depth images by ToF depth sensors, we perform a post-processing to solve the problems. Then, the depth information of the depth sensor is warped to color image positions and used as initial disparity values. In addition, the warped depth data is used to generate a depth-discontinuity map for efficient stereo matching. By applying the stereo matching using belief propagation with the depth-discontinuity map and the initial disparity information, we have obtained more accurate and stable multi-view disparity maps in reduced time.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.11 no.3
• /
• pp.555-562
• /
• 2007

In order to display Bayer input stream received from CMOS image sensor to the display device, image signal processing must be performed. That is, the hardware performing the image signal processing for Bayer data is called ISP(Image Signal Processor). We can see real image through ISP processing. ISP executes functionalities for gamma correction, interpolation, color space conversion, image effect, image scale, AWB, AE and AF. In this paper, we obtained the optimum algorithm through software verification of ISP module for CMOS camera image sensor and described using VHDL and verified in ModelSim6.0a simulator. Also we downloaded into Xilinx XCV-1000e for the designed ISP module and completed the board level verification using PCI interface.

• Proceedings of the IEEK Conference
• /
• 2003.11a
• /
• pp.27-30
• /
• 2003

In this paper a new approach of digitalized ‘Takbon’ is introduced. By image signal processing, the letters which were written on stones can be deciphered. Epigraphic letter is detected by digital image device, digital camera. The two dimensional digital image is preprocessed because of sensor noise and detective turbulence. Color image is transformed into grey level. The letter image is analyzed in time/frequency domain. By the resultant analysis data decisive functions are calculated. Signal Processing techniques, such as scaling, clipping, digital negative, high/low filter, morphology and so on, provide algorithms that can extract letter from stones.