• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.225-229
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• 1997

This paper describes the camera calibration based-neural network with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. Radial distortion causes and 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. The performance of proposed camera calibration is illustrated by simulation and experiment.

• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.545-549
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• 1993

This paper presents the method of calibrating and compensating for the kinematic errors in robot manipulators. A calibration model is developed to represent any geometric errors in the manipulator's structure. A calibration jig is used to find the values of these kinematic errors in the end-effector's position and a calibration algormined for a SSR-6 robot manipulator developed by Samsung Heavy Industry, Daeduk R & D Center. Through this experiment the maximun kinematic error is reduced from 10mm to 0.4mm

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1173-1177
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• 1990

Cerebellar Model Linear Associator Net(CMLAN), a kind of neuro-net based adaptive control function generator, was applied to the problem of direct inverse calibration of three and six d.o.f. POMA 560 robot. Since CMLAN autonomously maps and generalizes a desired system function via learning on the sampled input/output pair nodes, CMLAN allows no knowledge in system modeling and other error sources. The CMLAN based direct inverse calibration avoids the complex procedure of identifying various system parameters such as geometric(kinematic) or nongeometric(dynamic) ones and generates the corresponding desired compensated joint commands directly to each joint for given target commands in the world coordinate. The generated net outputs automatically handles the effect of unknown system parameters and dynamic error sources. On-line sequential learning on the prespecified sampled nodes requires only the measurement of the corresponding tool tip locations for three d.o.f. manipulator but location and orientation for six d.o.f. manipulator. The proposed calibration procedure can be applied to any robot.

• 한국정밀공학회지
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• 제12권8호
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• pp.73-85
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• 1995

The sensor system to measure the distance precisely from the center of the sensor system to the obstacle is needed to recognize the surrounding environments, and the sensor system is to be calibrated thoroughly to get the range information exactly. This study covers the calibration of the active range sensor which consists of camera and laser slit emitting device, and provides the equations to get the 3D range data. This can be possible by obtaining the extrinsic parameters of laser slit emitting device through image processing the slits measured during the constant distance intervals and the intrinsic parameters from the calibration of camera. The 3D range data equation derived from the simple geometric assumptions is proved to be applicable to the general cases using the calibration parameters. Also the exact 3D range data were obtained to the object from the real experiment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.637-642
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• 1995

For measuring the error motion of ultra-precision spindle, eliminating the geometric errors is a must. Unless it is achieved, geometric errors will be dominant in data. Here, the roundness error and alignment error between spindle and sensor are to be removed. That's because typical error range of such spindle is muchless than geometric one. A capacitive transducer of cylidricalshape was developed, which takes full advantage of the spatial-averaging effect by using large area compared tpo the geometric error. This idea was first proposed by Chapman and here it is modified for better performance with nomical gap of 50 .mu. m and with newly designed guards which encompass the respective sensor to rectify the electrical field distribution in good shape. The measurement system is made to get the orbit of Ultra-Precision Air Spindle which is supposed to have its runout under 1 .mu. m. The Calibration data of this sensor is presented and the spindle orbit from 2000rpm to 5500rpm is showed. It is quite reasonable to use this sensor in the range of 60 .mu. m with an accuracy of several tens of nm.

• 전자공학회논문지
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• 제52권5호
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• pp.127-135
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• 2015

본 논문에서는 사용자의 입력을 포함한 반자동 카메라 교정 방법을 제안한다. 제안된 방법은 사용자가 정의한 기준선을 소실점 추정을 위한 정보로 사용하는 동시에, 추정 과정에서 발생하는 아웃라이어 제거를 위한 추가 제약 조건으로 사용한다. 제안된 카메라 교정 방법은 대수적, 기하학적 방법을 모두 사용하여 기존 방법으로는 불가능한 조건에서 교정이 가능하도록 성능을 확장하였다. 교정 실험 결과를 통해 제안하는 방법이 기존 자동 교정보다 교정 정확도가 높은 것을 확인하였다.

• 한국도로학회논문집
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• 제16권4호
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• pp.119-126
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• 2014

PURPOSES: Used in transportation planning and traffic engineering, almost traffic simulation tools have input variable values optimized by overseas traffic flow attribution because they are almost developed in overseas country. Thus, model calibration appropriated for internal traffic flow attribution is needed to improve reliability of simulation method. METHODS : In this study, the traffic flow model calibration is based on expressways. For model calibration, it needs to define each expressway link according to attribution, thus it is classified by design speed, geometric conditions and number of lanes. And modified greenshield model is used as traffic flow model. RESULTS : The result of the traffic model calibration indicates that internal congested density is lower than overseas. And the result of analysis according to the link attribution indicates that the more design speed and number of lanes increase, the lower the minimum speed, the higher the congested density. CONCLUSIONS: In the traffic simulation tool developed in overseas, the traffic flow is different as design speed and number of lanes, but road segment don't affect traffic flow. Therefore, these results need to apply reasonably to internal traffic simulation method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.803-811
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• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.