• Agricultural and Biosystems Engineering
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• v.2 no.2
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• pp.69-74
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• 2001

Detection of operation lines in farm works, object recognition and obstacle avoidance are essential pre-requisite technologies for unmanned agricultural machinery. A CCD camera, which has been largely used for these functions, is expensive and has difficulty in real-time signal processing. In this study, a laser range sensor was selected as the guiding vision for unmanned agricultural machinery such as a tractor. To achieve this capability, algorithms for distance measurement, signal filtering, object recognition, and obstacle avoidance were developed. Computer simulations were carried out to evaluate performance of the algorithms. Experiments were also conducted with various materials and shapes, Laser beam lost its intensity for poor reflective materials, resulting in less range value than actual, so a compensation technique was considered to be necessary. Object detection system was fabricated on an agricultural tractor and the performance was evaluated. As test result for obstacle detection and avoidance in field, to detect and avoid obstacle for path finding with guiding system for unmanned agricultural machinery was enable.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.42 no.1
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• pp.51-58
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• 2005

we can set laser patterns with 3D information from vision camera after projected to object with laser stripes. They are very useful for 3-Dimensional informations. We researched the laser patterns of human body projected by stripes and found out three featuring patterns and made database of patterns using Fourier descriptors to recognize the patterns of bodies. The HMM method and Fourier descriptors to recognize human body were experimented. We found out HMM method can recognize human body in more efficient rate than the other.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.179-185
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• 2001

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris number was investigated. Throughout the repeated experiments, the shutter speed was set at 1-milisecond for minimizing the effect of spatters on the image, and therefore most of the spatter trace in the image have been found to be reduced. Region of interest was defined from the entire image and gray level of searched laser line was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line was within $^\pm$15$^\circ$from the longitudinal straight fine, the system constructed in this study could track the weld line successful1y. Since the processing time reduced to 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.406-410
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• 2005

A depth measurement system that consists of a single camera, a laser light source and a rotating mirror is investigated. The camera and the light source are fixed, facing the rotating mirror. The laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The camera detects the laser light location on object surfaces through the same mirror. The scan over the area to be measured is done by mirror rotation. Advantages are 1) the image of the light stripe remains sharp while that of the background becomes blurred because of the mirror rotation and 2) the only rotating part of this system is the mirror but the mirror angle is not involved in depth computation. This minimizes the imprecision caused by a possible inaccurate angle measurement. The detail arrangement and experimental results are reported.

• International conference on construction engineering and project management
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• 2013.01a
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• pp.616-623
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• 2013

One of the oldest, most common engineering problems is measuring the dimensions of different objects and the distances between locations. In AEC/FM, related uses vary from large-scale applications such as measuring distances between cities to small-scale applications such as measuring the depth of a crack or the width of a welded joint. Within the last few years, advances in applying new technologies have prompted the development of new measuring devices such as ultrasound and laser-based measurers. Because of wide varieties in type, associated costs, and levels of accuracy, the selection of an optimal measuring technology is challenging for construction engineers and facility managers. To tackle this issue, we present an overview of various measuring technologies adopted by experts in the area of AEC/FM. As the next step, to evaluate the performance of these technologies, we select one indoor and one outdoor case and measure several dimensions using six categories of technologies: tapes, total stations, laser measurers, ultrasound devices, laser scanners, and image-based technologies. Then we evaluate the results according to various metrics such as accuracy, ease of use, operation time, associated costs, compare these results, and recommend optimal technologies for specific applications. The results also revealed that in most applications, computer vision-based technologies outperform traditional devices in terms of ease of use, associated costs, and accuracy.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.2 s.314
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• pp.144-152
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• 2007

We propose a 3D modeling method for surface inspection of non-linear moving object. The laser lines reflect the surface curvature. We can acquire 3D surface information by analyzing projected laser lines on object. ill this paper, we use multi-line laser to make use of robust of single stripe method and high speed of single frame. Binarization and channel edge extraction method were used for robust laser line extraction. A new labeling method was used for laser line labeling. We acquired sink information between each 3D reconstructed frame by feature point matching, and registered each frame to one whole image. We verified the superiority of proposed method by applying it to container damage inspection system.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1023-1030
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• 2023

FMCW LiDAR system with robust target detection capabilities even under adverse operating conditions such as snow, rain, and fog is addressed in this paper. Our focus is primarily on enhancing the performance of FMCW LiDAR by improving the characteristics of the frequency-modulated laser, which directly influence range resolution, coherence length, and maximum measurement range etc. of LiDAR. We describe the utilization of an unbalanced Mach-Zehnder laser interferometer to measure real-time changes of the lasing frequency and to correct frequency modulation errors through an optical phase-locked loop technique. To extend the coherence length of laser, we employ an extended-cavity laser diode as the laser source and implement a laser interferometer with an photonic integrated circuit for miniaturization of optical system. The developed FMCW LiDAR system exhibits a bandwidth of 10.045GHz and a remarkable distance resolution of 0.84mm.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.389-394
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localization technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.499-503
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• 2004

This application-oriented paper describes an automated welding carriage system to weld a thin corrugated workpiece with welding seam tracking function. Hyundai Heavy Industries Corporation has developed an automatic welding carriage system, which utilizes pulsed plasma arc welding process for corrugated sheets. It can obtain high speed welding more than 2 times faster than traditional TIG based welding system. The aim of this development is to increase the productivity by using automatic plasma welding carriage systems, to track weld seam line using vision sensor automatically, and finally to provide a convenience to operator in order to carry out welding. In this paper a robust image processing and a distance based tracking algorithms are introduced for corrugated workpiece welding. The automatic welding carriage system is controlled by the programmable logic controller(PLC), and the automatic welding seam tracking system is controlled by the industrial personal computer(IPC) equipped with embedded OS. The system was tested at actual workpiece to show the feasibility and performance of proposed algorithm and to confirm the reliability of developed controller.