• International Journal of Control, Automation, and Systems
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• 제5권1호
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• pp.51-60
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• 2007

This paper describes a visual tracking control law of an Unmanned Aerial Vehicle(UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position to define a desired trajectory in an unknown 3D environment. The proposed method uses the homography matrix computed from the visual information and derives, using backstepping techniques, an adaptive nonlinear tracking control law allowing the effective tracking and depth estimation. The depth represents the desired distance separating the camera from the target.

• 한국농공학회논문집
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• 제49권1호
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• pp.57-65
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• 2007

In Korea, most landslides occurr during the rainy season and have shallow failure planes parallel to the slope. For these types of rainfall-induced failures, the most important factor triggering slope unstability is decrease in the matric suction of unsaturated soils with increasing saturation depth by rainfall infiltration. For this reason, estimation of cumulative infiltration has a significance. In this study, infiltration rate and cumulative infiltration are estimated by using both Mein & Larson model based on Green-Ampt infiltration model and using modified Mein & Larson model to which unsteady rainfall is applied. According to the results, the modified model is more reasonable than Mein & Larson method itself in estimation of infiltration rate and saturation depth because of considering real pending condition.

• 한국멀티미디어학회논문지
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• 제19권9호
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• pp.1659-1668
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• 2016

Understanding 3D structure of scenes is of a great interest in various vision-related tasks. In this paper, we present a unified approach for estimating depth from a single monocular image. The key idea of our approach is to take advantages both of parametric learning and non-parametric sampling method. Using a parametric convolutional network, our approach learns the relation of various monocular cues, which make a coarse global prediction. We also leverage the local prediction to refine the global prediction. It is practically estimated in a non-parametric framework. The integration of local and global predictions is accomplished by concatenating the feature maps of the global prediction with those from local ones. Experimental results demonstrate that the proposed method outperforms state-of-the-art methods both qualitatively and quantitatively.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 봄 학술논문 발표대회
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• pp.267-268
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• 2023

Out of an estimated 7 million buildings nationwide, approximately 38% of them have been standing for over 30 years, and this number is expected to continue to increase. Additionally, due to the Building Act, safety inspections will be mandatory for approximately 70,000 buildings annually, leading to an increase in demand for building safety inspections. However, the current building safety diagnosis heavily relies on manpower, making it difficult to diagnose locations that are hard to access, and requiring lengthy investigation periods. Therefore, this paper presents the basic research results of a non-contact concrete damage depth estimation technique using laser technology aimed at remote building safety diagnosis and shortening investigation periods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.590-593
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• 2001

In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.851-856
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• 1997

This study is on the estimation of the tool temperature for different tool nose radius and cutting conditions in turning. The experiment has been performed in different cutting conditions such as cutting speed, feed rate, and depth of cut for the tool nose radius, 0.4R, 0.8R using SMC workpiece materials. Tool temperature is measured using thermo-couple which is embedded in the insert tip. Using a multiple linear regression method, the tool temperature can be determined as an exponential equation with cutting variables and tool nose diameters for different tool materials. The equations determined in this study show a good correlation for the cutting conditions and can be used for the tool temperature estimation. The result indicates that the tool temperature decreases for ~ncreasing the tool nose radius in general. Also, nose radius hardly influences on the tool temperature compared with cutting speed, feed rate and depth of cut.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.1048-1054
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• 2003

In laser surface hardening processes, the geometrical parameters such as the depth and the width of a hardened layer can be utilized to assess the hardened layer quality. However, accurate monitoring of the geometrical parameters for on-line process control as well as for on-line quality evaluation is very difficult because the hardened layer is formed beneath a material surface and is not visible. Therefore, temperature monitoring of a point of specimen surface has most frequently been used as a process monitoring method. But, a hardened layer depends on the temperature distribution and the thermal history of a specimen during laser surface hardening processing. So, this paper describes the estimation results of the geometric parameters using multi-point surface temperature monitoring. A series of hardening experiments were performed to find the relationships between the geometric parameters and the measured temperature. Estimation results using a neural network show the enhanced effectiveness of multi-point surface temperature monitoring compared to one-point monitoring.

• 한국콘텐츠학회논문지
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• 제18권11호
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• pp.447-454
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• 2018

본 논문은 컨볼루션 신경망으로 이루어진 학습 모델을 통해 스테레오 영상의 깊이영상 생성 알고리즘을 제안한다. 제안하는 알고리즘은 좌, 우 시차 영상을 입력으로 받아 각 시차영상의 주요 특징을 추출하는 특징 추출부와 추출된 특징을 이용하여 시차 정보를 학습하는 깊이 학습부로 구성된다. 우선 특징 추출부는 2D CNN 계층들로 이루어진 익셉션 모듈(xception module) 및 ASPP 모듈(atrous spatial pyramid pooling) module을 통해 각각의 시차영상에 대한 특징맵을 추출한다. 그 후 각 시차에 대한 특징 맵을 시차에 따라 3차원 형태로 쌓아 3D CNN을 통해 깊이 추정 가중치를 학습하는 깊이 학습부를 거친 후 깊이 영상을 추정한다. 제안하는 알고리즘은 객체 영역에 대해 기존의 다른 학습 알고리즘들 보다 정확한 깊이를 추정하였다.

• 한국콘텐츠학회논문지
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• 제21권2호
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• pp.130-139
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• 2021

본 연구에서는 매실에 가장 큰 피해를 주는 복숭아 씨살이좀벌의 방제 적기 안내를 위해 3D 영상을 활용한 매실 인식 및 크기 추정 프로그램을 통해 매실 크기를 예측하였다. 3차원 영상 측정이 가능한 Kinect 2.0 Camera 및 RealSense Depth Camera D415를 사용하여 야간 영상 촬영을 진행하였다. 획득한 영상을 토대로 MATLAB R2018a를 이용하여 영상 전처리, 크기 추정이 가능한 매실 추출, RGB 및 Depth 영상 정합 및 매실 크기 추정의 4단계로 구성된 매실 인식 및 추정 프로그램을 구현해 매실 성장 단계를 고려하여 2018년의 5개 영상 및 2019년의 5개의 영상을 분석하였다. 10개 영상에 대해 프로그램을 구동하여 얻은 결과를 통해 매실 인식률의 평균 61.9%, 매실 인식 오류율 평균 0.5% 및 크기 측정 오차율 평균 3.6%를 도출하였다. 이러한 매실 인식 및 크기 추정 프로그램의 지속적인 개발은 향후 정확한 열매 크기 모니터링 및 복숭아 씨살이좀벌의 적기 방제 시스템 개발을 가능하게 할 것으로 예상한다.

• 한국멀티미디어학회논문지
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• 제17권8호
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• pp.915-922
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• 2014

We propose an adaptive zoom motion estimation method where a picture is divided into two areas based on the distance information with a depth camera : the one is object area and the other is background area. In the proposed method, the zoom motion is only applied to the object area except the background area. Further, the block size of motion estimation for the object area is set to smaller than that of background area. This adaptive zoom motion estimation method can be reduced at the complexity of motion estimation and can be improved at the motion estimation performance by reducing the block size of the object area in comparison with the conventional zoom motion estimation method. Based on the simulation results, the proposed method is compared with the conventional methods in terms of motion estimation accuracy and computational complexity.