• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.6
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• pp.625-635
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• 2014

Multiple strips are required for large area mapping using ALS (Airborne Laser Scanner) system. LiDAR (Light Detection And Ranging) data collected from the ALS system has discrepancies between strips due to systematic errors of on-board laser scanner and GPS/INS, inaccurate processing of the system calibration as well as boresight misalignments. Such discrepancies deteriorate the overall geometric quality of the end products such as DEM (Digital Elevation Model), building models, and digital maps. Therefore, strip adjustment for minimizing discrepancies between overlapping strips is one of the most essential tasks to create seamless point cloud data. This study implemented area-based matching (ABM) to determine conjugate features for computing 3D transformation parameters. ABM is a well-known method and easily implemented for this purpose. It is obvious that the exact same LiDAR points do not exist in the overlapping strips. Therefore, the term "conjugate point" means that the location of occurring maximum similarity within the overlapping strips. Coordinates of the conjugate locations were determined with sub-pixel accuracy. The major drawbacks of the ABM are sensitive to scale change and rotation. However, there is almost no scale change and the rotation angles are quite small between adjacent strips to apply AMB. Experimental results from this study using both simulated and real datasets demonstrate validity of the proposed scheme.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.8 s.185
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• pp.72-79
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• 2006

We measured grating pitch standards using optical diffractometry and analyzed measurement uncertainty. Grating pitch standards have been used widely as a magnification standard for a scanning electron microscope (SEM) and a scanning probe microscope (SPM). Thus, to establish the meter-traceability in nano-metrology using SPM and SEM, it is important to certify grating pitch standards accurately. The optical diffractometer consists of two laser sources, argon ion laser (488 nm) and He-Cd laser (325 nm), optics to make an incident beam, a precision rotary table and a quadrant photo-diode to detect the position of diffraction beam. The precision rotary table incorporates a calibrated angle encoder, enabling the precise and accurate measurement of diffraction angle. Applying the measured diffraction angle to the grating equation, the mean pitch of grating specimen can be obtained very accurately. The pitch and orthogonality of two-dimensional grating pitch standards were measured, and the measurement uncertainty was analyzed according to the Guide to the Expression of Uncertainty in Measurement. The expanded uncertainties (k = 2) in pitch measurement were less than 0.015 nm and 0.03 nm for the specimen with the nominal pitch of 300 nm and 1000 nm. In the case of orthogonality measurement, the expanded uncertainties were less than $0.006^{\circ}$. In the pitch measurement, the main uncertainty source was the variation of measured pitch values according to the diffraction order. The measurement results show that the optical diffractometry can be used as an effective calibration tool for grating pitch standards.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Journal of the Optical Society of Korea
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• v.2 no.2
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• pp.74-79
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• 1998

The use of a fiber Fabry-Perot interferometer (FFPI) as an optical current transducer is demonstrated. A conventional inductive pickup coil converts the time-varying current I(t) being measured to a voltage waveform V(t) applied across a piezeolectric strip to which the FFPI is bonded. The strip experiences a longitudinal expansion and contraction, resulting in an optical phase shift ${\phi}(t)$ in the fiber proportional to V(t). This phase shift is measured using a frequency-modulated semiconductor light source, photodiodes to monitor the reflected light from the FFPI and the laser power, and a digital signal processor. Calibration routines compute V(t) and I(t) from the measured phase shift at a l KHz rate. Response to 60 Hz ac over the design range 0-1300A rms is characterized Transient response of the FFPI transducer is also measured.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.365-366
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• 2008

광학입자 계수기는 실내환경, 대기오염 및 콜린룸 등 입자크기분포 측정장비로 가장 많이 사용된다. 광학입자 계수기에 샘플링된 업자는 관측체적 내로 1개씩 통과 하며 산란된 빚은 집광장치에 의해 광검출기로 전달한다. 이때 산란광의 양에 비례하여 전압 (전류)의 세기로 변환하여 전기적 선호로서 나타나는 Pulse의 높이는 Calibration Data에 따라 업자의 크기로 변환하고 Pulse의 개수는 입자의 개수로 표시된다. 입자의 크기와 개수등 이용하여 부피로 환산 한 후 부유하는 입자의 평균 밀드를 이용하여 질량으로 환산시킨다. 이렇게 측정된 미세먼지 농도는 ZigBee 통신을 사용하여 구축한 시스템을 통해서 중앙부에서 실시간으로 먼지 농도를 알 수 있다. 특히 멀티흡 기능을 이용하여 건물 구조가 복잡하거나 층간의 통신, 꺾인 부분이나 사무실 안과 밖과 같은 무선 통신이 원할 하지 못하는 경우를 극복하여 미세먼지의 농도 값을 측정 할 수도 있다.

• 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 Society of Industry Convergence
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• v.5 no.3
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• pp.187-192
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• 2002

In-plane ESPI(Electronic Speckle Patten Interferometry)was devised to measure in~plane defamation and rotation of a specimen with laser in this study. The conventional measuring methods of surface deformations such as the strain gauge have many demerits because they are contact and point-to-point measuring ones. But that ESPI is noncontact, nondestructive and whole field measuring method can overcome previous disadvantages. We used ESPI which is sensitive to in-plane displacement for measuring in-plane deformations of a disk. First of all, the system calibration was done due to an in-plane rotation before getting deformations of a disk. Finally we showed good agreement between theexperiment results and those of the FEA(Finit Element Analysis).

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1017-1021
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• 2004

In this paper, a cost-effective integrated 3D system for measuring and sizing foot is proposed. The proposed system employs two CCDs and a laser line projector which are capable of accurately measuring foot. The measurement is based upon the biologically motivated stereo vision principle providing ruggedness against minor system distortions. According to the tolerance, calibration between two different views are implicitly applied. Furthermore, the measurement system employs a measurement base, a frame grabber, a CCD moving cart, a stepping motor and computer. Analysis and design procedure is presented for the calculation of the 3D foot data and the proposed system. Experimental results on the proposed system would verify the concept and system operation.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.415-420
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• 1989

This thesis deals with range finding using one camera and laser pointer. Range finding will be used further recognition of the image, that is, range image which allows further segmentation of the scene. In the first step, camera modeling is performed by camera calibration which executes least square fit. Least square fit uses the method of sigular value decomposition. And perspective transform of camera is obtained. Lastly range finding is performed by triangulation principle. The result of this algorithm are displayed.