• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.297-304
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• 1997

In stereo vision, camera modeling is very important because the accuracy of the three dimensional locations depends considerably on it. In the existing stereo camera models, two camera planes are located in the same plane or on the optical axis. These camera models cannot be used in the active vision system where it is necessary to obtain two stereo images simultaneously. In this paper, we propose four kinds of stereo camera models for active stereo vision system where focal lengths of the two cameras are different and each camera is able to rotate independently. A single closed form solution is obtained for all models. The influence of the stereo camera model to the field of view, occlusion, and search area used for matching is shown in this paper. And errors due to inaccurate focal length are analyzed and simulation results are shown. It is expected that the three dimensional locations of objects are determined in real time by applying proposed stereo camera models to the active stereo vision system, such as a mobile robot.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.5
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• pp.555-563
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• 2009

When a mobile mapping system or a robot is equipped with only a GPS (Global Positioning System) and multiple stereo camera system, a transformation from a local camera coordinate system to GPS coordinate system is required to link camera poses and 3D data by V-SLAM (Vision based Simultaneous Localization And Mapping) to GIS data or remove the accumulation error of those camera poses. In order to satisfy the requirements, this paper proposed a novel method that calculates a camera rotation in the GPS coordinate system using the three pairs of camera positions by GPS and V-SLAM, respectively. The propose method is composed of four simple steps; 1) calculate a quaternion for two plane's normal vectors based on each three camera positions to be parallel, 2) transfer the three camera positions by V-SLAM with the calculated quaternion 3) calculate an additional quaternion for mapping the second or third point among the transferred positions to a camera position by GPS, and 4) determine a final quaternion by multiplying the two quaternions. The final quaternion can directly transfer from a local camera coordinate system to the GPS coordinate system. Additionally, an update of the 3D data of captured objects based on view angles from the object to cameras is proposed. This paper demonstrated the proposed method through a simulation and an experiment.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.183-188
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• 2006

This research is to know differentiation of CP(center of pressure) pattern among four pitching sort(straight ball, raise ball, change up ball, drop ball). Subject are three national or junior athletes. We use the one camera, Novel Win pressure measurement system. Conclusions are as follows : 1. When we throw the straight ball, CP of left foot is effective to end movement at middle of foot in body balance on arm angular motion and enhanced speed. 2. When we throw the raise ball, to change CP from middle to post is more effective in order to raise the ball. 3.In drop ball pitching, in order to fall down the ball in front of hitter, CP of left foot move from post foot to interior part of forefoot 4. In change up ball pitching, if CP of left foot move into forefoot, it is a cause of high ball and hitter can recognize the change up ball because of late arm rotation motion.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2006.06a
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• pp.53-54
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• 2006

Experimental analyses on the Hydroelastic Flow-Structure Interactions on pulsed impinged jet is measured with the FSIMS(Flow-Structure Interaction Measurement System. The nozzle diameter is D=15mm and two major experiments have been carried out for the cases of the distance between the nozzle tip to the elastic wall is 6.0. The pulsed jets were controlled by a solenoid valve and were impinged onto an elastic plate (material: silicon, diameter: 350mm, thickness: 0.5mm, hardness: 15). The Reynolds numbers were 20,000 and 24,000 when the jets were impinged with the volume velocities. The results showed that the elastic plate moved slightly to the opposite direction of the jet direction at the time of valve opening. It has been shown that the vortices travelling over the surface of the wall made the elastic wall distorted locally due to a vector forces between rotating forces of the vortex and a newly-incoming flow.

• Korean Journal of Remote Sensing
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• v.26 no.5
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• pp.593-603
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• 2010

Most spatial data acquisition systems employing a set of frame cameras may have suffered from their small fields of view and poor base-distance ratio. These limitations can be significantly reduced by employing an omni-directional camera that is capable of acquiring images in every direction. Bundle Block Adjustment (BBA) is one of the existing georeferencing methods to determine the exterior orientation parameters of two or more images. In this study, by extending the concept of the traditional BBA method, we attempt to develop a mathematical model of BBA for omni-directional images. The proposed mathematical model includes three main parts; observation equations based on the collinearity equations newly derived for omni-directional images, stochastic constraints imposed from GPS/INS data and GCPs. We also report the experimental results from the application of our proposed BBA to the real data obtained mainly in urban areas. With the different combinations of the constraints, we applied four different types of mathematical models. With the type where only GCPs are used as the constraints, the proposed BBA can provide the most accurate results, ${\pm}5cm$ of RMSE in the estimated ground point coordinates. In future, we plan to perform more sophisticated lens calibration for the omni-directional camera to improve the georeferencing accuracy of omni-directional images. These georeferenced omni-directional images can be effectively utilized for city modelling, particularly autonomous texture mapping for realistic street view.

• Journal of Advanced Marine Engineering and Technology
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• v.35 no.7
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• pp.957-965
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• 2011

The wakes of a cylindrical body have been investigated. The cylindrical body was attached with a thin film. The film is made of silicon with configurations of 50mm(W) ${\times}$ 150mm(L) ${\times}$ 0.3mm(T). The cylinder wakes have been measured with PIV experiments under the conditions with and without the thin film. The diameter of the installed cylinder body is 30mm and the Reynolds numbers are 2730, 6160 and 9750 with the diameter. The measurement system consists of an Ar-ion laser(6W), a high speed camera(1024 ${\times}$ 992 pixel, 500fps) and a host computer. FFT analyses have been carried out using the velocity vectors obtained by PIV measurements at the point X/D=1.52 and Z/D=0.52. For understanding the three-dimensional flow structures, a new Volumetric PTV(particle tracking velocimetry) has been constructed, in which the same four high-resolution cameras have been used. It has been verified that the flexible film suppresses or damps the vortices separated from the cylinder body, which makes the cylinder's wakes stable. With increase of Re numbers the intensity of the dominant frequency of the wakes become smaller.

• Computers and Concrete
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• v.31 no.5
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• pp.385-394
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• 2023

Displacement is an important element for evaluating the stability and failure mechanism of hydraulic structures. Digital image correlation (DIC) is a useful technique to measure a three-dimensional displacement field using two cameras without any contact with test material. The objective of this study is to evaluate the behavior of stacked geotextile tubes using the DIC technique. Geotextile tubes are stacked to build a small-scale temporary dam model to exclude water from a specific area. The horizontal and vertical displacements of four stacked geotextile tubes are monitored using a dual camera system according to the upstream water level. The geotextile tubes are prepared with two different fill materials. For each dam model, the interface layers between upper and lower geotextile tubes are either unreinforced or reinforced with a cementitious binder. The displacement of stacked geotextile tubes is measured to analyze the behavior of geotextile tubes. Experimental results show that as upstream water level increases, horizontal and vertical displacements at each layer of geotextile tubes initially increase with water level, and then remain almost constant until the subsequent water level. The displacement of stacked geotextile tubes depends on the type of fill material and interfacial reinforcement with a cementitious binder. Thus, the proposed DIC technique can be effectively used to evaluate the behavior of a hydraulic structure, which consists of geotextile tubes.

• Journal of the HCI Society of Korea
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• v.10 no.2
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• pp.21-26
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• 2015

NUI (Natural User Interface) system interprets the user's natural movement or the signals from human body to the machine. sEMG (surface electromyogram) can be observed when there is any effort in muscle even without actual movement, which is impossible with camera and accelerometer based NUI system. In sEMG based movement recognition system, the minimal number of electrodes is preferred to minimize the inconvenience. We analyzed the decrease in recognition accuracy as decreasing the number of electrodes. For the four kinds of movement intention without movement, extension (up), flexion (down), abduction (right), and adduction (left), the multilayer perceptron classifier was used with the features of RMS (Root Mean Square) from sEMG. The classification accuracy was 91.9% in four channels, 87.0% in three channels, and 78.9% in two channels. To increase the accuracy in two channels of sEMG, RMSs from previous time epoch (50-200 ms) were used in addition. With the RMSs from 150 ms, the accuracy was increased from 78.9% to 83.6%. The decrease in accuracy with minimal number of electrodes could be compensated partly by utilizing more features in previous RMSs.

• Physical Therapy Korea
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• v.13 no.2
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• pp.16-25
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• 2006

The aim of this study was to investigate the kinematics of young adults during descent ramp climbing at different inclinations. Twenty-three subjects descended four steps at four different inclinations (level, $-8^{\circ}$, $-16^{\circ}$, $-24^{\circ}$). The 3-D kinematics were measured by a camera-based Falcon System. The data were analyzed using one-way ANOVA and the Student-Newman-Keuls test. The kinematics of descent ramp walking could be clearly distinguished from the kinematics of level walking. On a sagittal plane, the ankle joint was more plantar flexed at initial contact with $-16^{\circ}/-24^{\circ}$ inclination, was decreased in the toe off position with all inclinations (p<.001),and was decreased at maximum plantar flexion during the swing phase (p<.001). The knee joint was more flexed at initial contact with the $-24^{\circ}$ inclination (p<.001), was more flexed in the toe off position with all inclinations (p<.001), and was more flexed at minimum flexion during stance phase and at maximum flexion during swing phase with $-16^{\circ}$, $-24^{\circ}$ inclination (p<.001). The hip joint was more flexed in the toe off position with $-16^{\circ}$, $-24^{\circ}$ inclination and was deceased at maximum extension during stance phase with $-16^{\circ}$, $-24^{\circ}$ inclination (p<.05). In the frontal plane, the ankle joint was more everted at maximum eversion during stance phase with $-16^{\circ}/-24^{\circ}$ inclination (p<.01) and was decreased at maximum inversion during swing phase with $-16^{\circ}$, $-24^{\circ}$ inclination (p<.01). The knee joint was more increased at maximum varus during stance phase with $-16^{\circ}/-24^{\circ}$ inclination (p<.001). The hip joint was deceased at maximum adduction during stance phase with $-24^{\circ}$ inclination (p<.05). In a horizontal plane, only the knee joint was increased at maximum internal rotation during stance phase with $-24^{\circ}$ inclination (p<.05). In descent ramp walking, the different gait patterns occurred at an inclination of over $16^{\circ}$ on the descending ramp in the sagittal and frontal planes. These results suggest that there is a certain inclination angle or angular range where subjects do switch between level walking and descent ramp walking gait patterns.

• The Journal of Korean Physical Therapy
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• v.17 no.4
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• pp.633-650
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• 2005

The aim of this study was to investigate the kinematics of young adults during ascent ramp climbing at different inclinations. Twenty-three subjects ascended a four step at four different inclinations(level, $8^{\circ},\;16^{\circ},\;24^{\circ}$). The 3-D kinematics was analysed by a camera-based falcon system. Groups difference was tested with one -way ANOVA and SNK test. The different kinematic patterns of ramp ascent were analysed and compared to level walking patterns. The kinematics of ramp walking could be clearly distinguished from the kinematics of level walking. In sagittal plane, Ankle joint was more dorsiflexed at initial contact and Max. dorsiflex. during stance phase with $16^{\circ},\;24^{\circ}$ inclination and more plantarflexed at toe off and Max. plantarflex. during swing phase with $24^{\circ}$(p<.001). Knee joint was more flexed at initial contact with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was more flexed at initial contact and Max. flex. during swing phase with $16^{\circ},\;24^{\circ}$ inclination and at toe off with $24^{\circ}$(p<.001) and was more extended at Max. ext. during stance phase with $24^{\circ}$(p<.05). In frontal plane, ankle joint was more everted at Max. eversion. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Knee joint was more increased at Max. varus. during stance phase with $16^{\circ},\;24^{\circ}$ inclination(p<.001). Hip joint was not differentiated with different inclinations. In horizontal plane, all joints were not differentiated with different inclinations. Conclusionally, In ascent ramp walking, the different gait pattern generally occurred at over $16^{\circ}$ on the ascending ramp in sagittal and frontal plane. These results suggest that there is a certain inclination angle or angular range where subjects do switch between a level walking and a ascent ramp walking gait pattern. This shows their motor control strategy between level and ascent ramp walking. Further studies are necessary to confirm and detect the ascent ramp gait patterns.