• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.10 s.253
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• pp.929-934
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• 2006

The digital HPTV(holographic particle tracking velocimetry) velocity field measurement system consists of four steps: recording, numerical reconstruction, particle extraction and velocity extraction. In the velocity extraction process, we improved the two frame PTV algorithm to extract 3-D displacement information of each particle located in 3D space. Because a digital CCD camera was used, some factors such as spatial resolution, numerical aperture, and particle concentration influenced on the performance of the developed digital HPTV. Especially, the particle concentration $(C_o)$ affected the reconstruction efficiency and recovery ratio in the numerical reconstruction and particle extraction procedure. In this paper, the effect of particle concentration reconstruction efficiency and recovery ratio were analyzed experimentally. Optimal particle concentration was found to be in the range of $C_o=11{\sim}17\;particles/mm^3$.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1269-1271
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• 1996

This paper presents a visual servoing combined by evolutionary algorithms and neural network for a robotic manipulators to control position and orientation of the end-effector. Using the multi layer feedforward neural network that permits the connection of other layers, evolutionary programming(EP) that search the structure and weight of the neural network, and evolution strategies(ES) which training the weight of neuron, we optimized the net structure of control scheme. Using the four feature image information from CCD camera attached to end-effector of RV-M2 robot manipulator having 5 dof, we generate the control input to agree the target image, to realize the visual servoing. The validity and effectiveness of the proposed control scheme will be verified by computer simulations.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.841-846
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• 2006

A real time system realization for binocular eyeball tracking cursor on the computer monitor screen is presented in the paper. The processing for searching iris and tracking the cursor are that a facial is acquired by the small CCD camera, convert it into binary image, search for the eye two using the five region mask method in the eye surroundings and the side four points diagonal positioning method is searched the each iris. The tracking cursor is matched by measuring the iris central moving position, The cursor controlling is achieved by comparing two related distances between the iris maximum moving and the cursor moving to calculate the moving stance from gazing position and screen. The experimental result are obtained by examining some adults person on the system.

• Proceedings of the Korean Society of Near Infrared Spectroscopy Conference
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• 2001.06a
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• pp.1526-1526
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• 2001

To improve the accuracy of sweetness sensor in automated sorting operations, it is necessary to clarify unevenness of the sugar content distribution within fruits. And it is expected that the technique to evaluate the content distribution in fruits contribute to the development of the near-infrared (NIR) imaging spectroscopy. Sugiyama (1999) had succeeded to visualize the distribution of the sugar content on the surface of a half-cut green fresh melon. However, this method cannot be applied to red flesh melons because it depends on information of the absorption band of chlorophyll (676 nm), which is affected by the color of the fresh. The objective of this study was to develop the universal visualization method depends on the absorption band of sugar, which can be applied to various kinds of melons and other fruits. The relationship between the sugar contents and absorption spectra of both green and red fresh melons were investigated by using a NIR spectrometer to determine the absorption band of sugar. The combination of 2$\^$nd/ derivative absorbances at 902 nm and 874 nm was highly correlated with the sugar contents. The wavelength of 902 nm is attributed to the absorption band of sugar. A cooled charge-coupled device (CCD) imaging camera which has 16 bit (65536 steps) A/D resolution was equipped with rotating band-pass filter wheel and used to capture the spectral absorption images of the flesh of a vertically half-cut red fresh melon. The advantage of the high A/D resolution in this research is that each pixel of the CCD is expected to function as a detector of the NIR spectrometer for quantitative analysis. Images at 846 nm, 874 nm, 902 nm and 930 nm were acquired using this CCD camera. Then the 2$\^$nd/ derivative absorbances at 902 nm and 874 nm at each pixel were calculated using these four images. On the other hand, parts of the same melon were extracted for capturing the images and squeezed for the measurement of sugar content. Then the calibration curve between the combination of 2$\^$nd/ derivative absorbances at 902 nm and 874 nm and sugar content was developed. The calibration method based on NIR spectroscopy techniques was applied to each pixel of the images to convert the 2$\^$nd/ derivative absorbances into the Brix sugar content. Mapping the sugar content value of each pixel with linear color scale, the distribution of the sugar content was visualized. As a result of the visualization, it was quantitatively confirmed that the Brix sugar contents are low at the near of the skin and become higher towards the seeds. This result suggests that the visualization technique by the NIR imaging spectroscopy could become a new useful method fer quality evaluation of melons.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2036-2038
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• 2001

In this paper, we propose the neural network based emotion recognition method for intelligently recognizing the human's emotion using vision system. In the proposed method, human's emotion is divided into four emotion (surprise, anger, happiness, sadness). Also, we use R,G,B(red, green, blue) color image data and the gray image data to get the highly trust rate of feature point extraction. For this, we propose an algorithm to extract four feature points (eyebrow, eye, nose, mouth) from the face image acquired by the color CCD camera and find some feature vectors from those. And then we apply back-prapagation algorithm to the secondary feature vector(position and distance among the feature points). Finally, we show the practical application possibility of the proposed method.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.128-137
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• 2012

When a CCD camera acquires images in the low light level environment, not only the image signals but also noise components are amplified by the AGC (auto gain control) circuit. Since the noise level in the images acquired in the dark is very high, it is difficult to remove noise with existing denoising algorithms that are targeting the images taken in the normal light condition. In this paper, we proposed an adaptive denoising algorithm that can efficiently remove significant noises caused by the low light level. First, the window including a target pixel is transformed to the frequency domain. Then the algorithm compares the characteristics of equally divided four frequency bands. Finally the noises are adaptively removed according to the frequency characteristics. The proposed algorithm successfully improves the quality of low light level images than the existing algorithms do.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.5
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• pp.175-182
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• 2010

The paper presents a novel algorithm for face and iris detection with the application for driver iris monitoring. The proposed algorithm consists of the following major steps: Skin-color segmentation, facial features segmentation, and iris positioning. For the skin-segmentation we applied a multi-layer perceptron to approximate the statistical probability of certain skin-colors, and filter out those with low probabilities. The next step segments the face region into the following categories: eye, mouth, eye brow, and remaining facial regions. For this purpose we propose a novel segmentation technique based on estimation of facial class probability density functions (PDF). Each facial class PDF is estimated on the basis of salient features extracted from a corresponding facial image region. Then pixels are classified according to the highest probability selected from four estimated PDFs. The final step applies the circular Hough transform to the detected eye regions to extract the position and radius of the iris. We tested our system on two data sets. The first one is obtained from the Web and contains faces under different illuminations. The second dataset was collected by us. It contains images obtained from video sequences recorded by a CCD camera while a driver was driving a car. The experimental results are presented, showing high detection rates.

• Journal of the Institute of Convergence Signal Processing
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• v.6 no.1
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• pp.8-14
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• 2005

The implementation of vision system using CCD camera which measures the earing rate of aluminium CAN is represented in this paper. In order to optimize the input image, the object of the input image is separated and the position of the image is calibrated. In the preprocessing, the definition of image is improved by the histogram equalization, and then the edges of the input image are detected by the Robert mask. The heights of the four ears and angles of the aluminium CAN are measured manually with the digital vernier calipers in industry. It takes 30 seconds to measure manually the height of one direction of the aluminium CAN at least three times. However, when the proposed system in this paper is applied, it takes 0.02 seconds only. In conclusion, the efficiency of the proposed system is higher than that of the system used in the industry.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.550-555
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• 1993

The aim of this paper is to present the development of visual seam tracking system equipped with visual range finder. The visual range finder, which consists of a CCD camera and a diode laser system with line generating optics, developed to recognize the types of weld joints and detect the location of weld joints. In practical applications, however, images of the weld joints are often degraded due to spatters, are flares, surface specularity, and welding smoke. To overcome the problem, this paper proposes a syntactic approach which is a class of artificial intelligence techniques. In the approach, the type of weld joint is inferred based upon the production rules which are linguiques grammars consisting of a set of line and junction primitives of laser strip image projected on weld joint. The production rules eliminate several noisy primitives to create new primitives through the merging process of primitives. After the recognition of weld joint, arc welding is started and the location of weld joints is repeatedly detected using a spring model-based template matching in which the template model is a by-product of the recognition process of weld joint. To show the effectiveness of the proposed approach a series of experiments-identification and robotic tracking-are conducted for four different types of weld joints.