• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.738-744
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• 2016

In this paper, a robust visual odometry system has been proposed and implemented in an environment with dynamic illumination. Visual odometry is based on stereo images to estimate the distance to an object. It is very difficult to realize a highly accurate and stable estimation because image quality is highly dependent on the illumination, which is a major disadvantage of visual odometry. Therefore, in order to solve the problem of low performance during the feature detection phase that is caused by illumination variations, it is suggested to determine an optimal threshold value in the image binarization and to use an adaptive threshold value for feature detection. A feature point direction and a magnitude of the motion vector that is not uniform are utilized as the features. The performance of feature detection has been improved by the RANSAC algorithm. As a result, the position of a mobile robot has been estimated using the feature points. The experimental results demonstrated that the proposed approach has superior performance against illumination variations.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3037-3040
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• 2000

Real-Time object tracking has emerged as an important component in several application areas including machine vision. surveillance. Human-Computer Interaction. image-based control. and so on. And there has been developed various algorithms for a long time. But in many cases. they have showed limited results under uncontrolled situation such as illumination changes or cluttered background. In this paper. we present a novel. computationally efficient algorithm for tracking human face robustly under illumination changes and cluttered backgrounds. Previous algorithms usually defines color model as a 2D membership function in a color space without consideration for illumination changes. Our new algorithm developed here. however. constructs a 3D color model by analysing plenty of images acquired under various illumination conditions. The algorithm described is applied to a mobile head-eye robot and experimented under various uncontrolled environments. It can track an human face more than 100 frames per second excluding image acquisition time.

• Journal of Biosystems Engineering
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• v.37 no.5
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• pp.314-318
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• 2012

Purpose: This study was conducted to develop a measurement system for determining photosynthetic photon flux (PPF) distribution and illumination efficiency of LED lamps. Methods: The system was composed of a linear moving sensor part (LMSP), a rotating part to turn the LMSP, a body assembly to support the rotating part, and a motor controller. The average PPF of the LED lamp with natural cooling and water cooling was evaluated using the measurement system. Results: The PPF of LED lamp with water cooling was 3.1-31.7% greater than that with natural cooling. Based on the measured value, PPF on the horizontal surface was predicted. Illumination efficiency of the LED lamp was slightly increased with water cooling by 3.4%, compared with natural cooling. A simulation program using MATLAB was developed to analyze the effects of the vertical distance from lighting sources to growing bed, lamp spacing, and number of LED lamps, on the PPF distribution on the horizontal surface. The uniformity of the PPF distribution of the LED lamps was fairly improved with 15 cm spacing, as compared to the 5 cm spacing. By simulation, PPF of $217.0{\pm}27.9{\mu}mol{\cdot}m^{-2}{\cdot}s^{-1}$ was obtained at the vertical distance of 40 cm from six LED lamps with 12 cm spacing. This simulated PPF was compared to the measured one of $225.9{\pm}25.6{\mu}mol{\cdot}m^{-2}{\cdot}s^{-1}$. After continuous lighting of 346 days, the relative PPF of LED lamps with water cooling and natural cooling was decreased by 6.6% and 22.8%, respectively. Conclusions: From these results, it was concluded that the measurement system developed in this study was useful for determining PPF and illumination efficiency of artificial lighting sources including LED lamp.

• 한국태양에너지학회:학술대회논문집
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• 2011.04a
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• pp.269-274
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• 2011

A solar cell is primary parts to produce electrical energy from the Sun. And, we can utilize those solar cells as a power generation system in home, factory, and so on. In order to make proper power, the solar cells are configured in series and parallel lay down. In condition of uniform illumination, the solar array will produce an enough power by photovoltaic effects from the solar cells. In case of non-uniform illumination on the solar cells, the power will be dramatically decreased compared to design. Fortunately, there were so many research outputs regarding the illumination effects on solar array. In this work, we tried to find out the non-uniform effects on unit CPV solar cell, because there were no research outputs for unit CPV solar cell considering illumination. The CPV solar cell was used in CPV system to make a power by the Sun. We chosen the triple junction solar cell of GaAsInP2Ge for simulation, which has a 30 % of conversion efficiency. By simulation, we obtained the output performance of CPV solar cells in condition of various illumination by using Hamming Window function. Its performance was degraded by 10 % to 50 % depending illumination conditions.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.1
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• pp.32-39
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• 2004

The color-based vision systems have been used to recognize our team robots, the opponent team robots and a ball in the robot soccer system. The color-based vision systems have the difficulty in that they are very sensitive to color variations brought by brightness changes. In this paper, a neural network trained with data obtained from various illumination conditions is used to classify colors in the modified YUV color space for the robot soccer vision system. For this, a new method to measure brightness is proposed by use of a color card. After the neural network is constructed, a look-up-table is generated to replace the neural network in order to reduce the computation time. Experimental results show that the proposed color classification method is robust under illumination variations.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.12
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• pp.122-130
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• 2010

This paper presents an active ranging system based on laser structured-light image. The structured-light image processing is computationally efficient in comparison with the conventional stereo image processing, since the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise, an efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed. Distance equation from the measured structured light pixel distance and system parameter calibration are addressed in this paper. Experiments and analysis are carried out to verify performance of the proposed ranging system.

• Journal of the Korean Home Economics Association
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• v.35 no.4
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• pp.149-158
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• 1997

The purpose of this study is to investigate the actual conditions of illumination circumstances in living rooms and the evaluation of residents about those. The respondents of this study were residents of 236 detached houses and 163 apartment houses in Taegu city, The results are as follows: (1) Fluorescent lamps are usded in living rooms by half and plural lighting fixtures are generally used; ceiling light and chandelier. While direct light system is generally used and core type is the most frequent in living rooms. (2) The average used illumination level is 59.7 1x while the possession illumination level is 84.9 1x by investigating of illumination circumstances. (3) Over half of residents are satisfied with illumination circumstances in their own houses. While they wish to improve the lighting fixtures lightness and the kind of light soure in order. And the evaluation of residents are medial level.

• Journal of Biosystems Engineering
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• v.25 no.1
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• pp.25-32
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• 2000

Motivated by the need for developing the more efficient lighting system for light culture in the greenhouses, this paper aims to predict the illumination of incandescent lamp according to various levels of lighting and various kinds of the lamp. The results obtained in this experiment are summarized as follows. 1. The general equation to predict the illumination according to the kind of incandescent lamp and the installation height was suggested as {{{{y= { a + bx+ cx^2} over { 1+dx+ex^2~ + fx^3} [lx]}}}} , where , a, b, c , d, e and of were arbitrary constants. 2. Maximum illumination of hat-covered lamp of 60 W was 1.2 -1.5 times as many as uncovered lamp. 3. Maximum illumination of yellow color painted lamp of 100 W was 1.3 times as many as unpainted lamp.

• Korean Journal of Optics and Photonics
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• v.32 no.2
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• pp.68-78
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• 2021

A subminiature catadioptric omnidirectional optical system (SCOOS) with 2 mirrors, 6 plastic aspherical lenses, and an illumination system of 6 light emitting diodes, to observe the 360° panoramic image of the inner intestine, is optically designed and evaluated for a capsule endoscope. The total length, overall length, half field of view (HFOV), and F-number of the SCOOS are 14.3 mm, 8.93 mm, 51°~120°, and 3.5, respectively. The optical system has a complementary metal-oxide-semiconductor sensor with 0.1 megapixels, and an illumination system of 6 light-emitting diodes (LEDs) with 0.25 lm to illuminate on the 360° side view of the intestine along the optical axis. As a result, the spatial frequency at the modulation transfer function (MTF) of 0.3, the depth of focus, and the cumulative probability of tolerance at the Nyquist frequency of 44 lp/mm and MTF of 0.3 of the optimized optical system are obtained as 130 lp/mm, -0.097 mm to +0.076 mm, and 90.5%, respectively. Additionally, the simulated illuminance of the LED illumination system at the inner surface of the intestine within HFOV, at a distance of 15.0 mm from the optical axis, is from a minimum of 315 lx to a maximum of 725 lx, which is a sufficient illumination and visibility.

• Journal of the Optical Society of Korea
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• v.18 no.6
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• pp.663-671
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• 2014

LED lamp arrangement is a critical issue in indoor visible light communication (VLC) system. In this paper, we analyze the illumination distribution under the arrangement of $2{\times}3$ and propose a method to find the optimal lamp arrangement. The method, based on the MIMO (Multiple Input/Multiple Output) system model and taking the first order reflection into consideration, enables accurate analysis of the arrangement of the LED lamps for any room. The studies show that under the optimal arrangement the uniformity of illumination is improved from 0.55 to 0.86, which guarantees that users can get almost equal lighting effects, no matter where they locate themselves. At the same time, the RMS delay spread distribution which is used to evaluate the inter-signal-interference (ISI) is analyzed, and the simulation results indicate that the optimal arrangement also can improve the communication quality by reducing the fluctuation of the RMS delay spread.