• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.476-481
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• 2008

The necessity of intelligent surveillance system is gradually considered seriously from the space where the security is important. From this paper will load Network Camera in Mobile Robot based on embedded Linux and Goal is in the system embodiment will be able to track the intruder. From Network Camera uses Wireless Lan transmits an image with server, grasps direction of the intruder used Block Matching algorithms from server, transmits direction information and tracks an intruder. The robot tracks the intruder according to gets the effective image of an intruder. In compliance with this paper the system which is embodied is linked with a different surveillance system and as intelligent surveillance system there is a possibility of becoming worse a reliability.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1431-1442
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.786-791
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• 1992

When a mobile robot moves from one place to another, position error occurs due to the limit of accuracy of robot and the effect of environmental noise. In this paper. an accurate method of estimating the position and orientation of a mobile robot using the camera calibration is proposed. Kalman filter is used as the estimation algorithm. The uncertainty in the position of camera with repect to robot base frame is considered well as the position error of the robot. Besides developing the mathematical model for mobile robot calibration system, the effect of relative position between camera and calibration points is analyzed and the method to select the most accurate calibration points is also presented.

• Korean Journal of Computational Design and Engineering
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• v.15 no.5
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• pp.325-332
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• 2010

A lens system for mobile phone cameras is comprised of various lenses and designed so as to satisfy design requirements for responses such as a modular transfer function (MTF). However, it is difficult to manufacture and assemble camera modules to maintain the same performance compared with the designed camera modules, because of uncertainty. We should always design a lens system by considering uncertainty that can be caused by errors in the manufacturing and assembly process of mobile phone cameras. The robust optimization offers tools of making robust decisions with the consideration of design parameters, uncontrollable parameters, and the variance of the system. Using an efficient reliability analysis method and an optimization algorithm, we obtained robust optimization results that maximize the mean of MTF and minimize the standard deviation and proposed a new robust design process for a lens system.

• Proceedings of the Optical Society of Korea Conference
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• 2006.07a
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• pp.79-80
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• 2006

• Proceedings of the International Microelectronics And Packaging Society Conference
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• 2006.10a
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• pp.37-45
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• 2006

The mobile-phone which Camera was put on was released at the end of 2000 and dramatically puts up the deployment ratio because not only simple Camera but also a function that the photograph which I took is dispatched was added. It is the force that demand in this year presses 600,000,000 sale of a mobile-phone is estimated to be 960,000,000 of them in 2006, and to be able to include two errands with a support model after 3G. A person of entry to a camera-module appear much. In addition, the various kinds of products open markedly which a product comes to be known widely in the world, and the application range has opened widely, and considered QCDT come to be key issues for answer to market demand. By manufacturing industry, there is peculiar culture to each industry, camera-module is the composition the various industries. The construction of true Supply-chain becomes unavoidable to make a good product. I describe the point that the situation of each supply-chain and the direction for the future by the view point of module assembly maker.

• Journal of information and communication convergence engineering
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• v.8 no.2
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• pp.145-149
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• 2010

In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.255-257
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• 2005

This paper describes a method for obstacle avoidance and map building for mobile robots using one CCD camera. The captured image from one camera has the feature that some parts where focused look fine but the other parts look blear (this is the out-focusing effect). Using this feature a mobile robot can find obstacles in his way from the captured image. After Processing the image, a robot can not only determine whether an obstacle is in front of him or not, but also calculate the distance from obstacles based on image data and the focal distance of its camera lens. Finally, robots can avoid the obstacle and build the map using this calculated data.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.60 no.2
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• pp.63-67
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• 2011

This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

• Convergence Security Journal
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• v.7 no.2
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• pp.81-89
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• 2007

Mobile computing environment that support so that can offer employees inside information that enterprise has always improves business productivity and fetches efficiency enlargement. In this paper, limit model that can process ERP information by real-time as easy and convenient always utilizing radio network and PDA, Mobile camera based on Mobile vision concept. Calculable information between seller and customer is supplied supplying real-time brand image and information by practical use of Enterprise Resource Planning doing based on Mobile. Technical development and commercialization that utilize mobility, enforcement stronghold, portability etc. that is advantage of Mobile communication are required. In this paper, mobility of precious metals.jewel field that use portable terminal equipment taking advantage of a Mobile technology is secured. Constructed Mobile vision system that satisfy photography and bar-code scan at the same time from Mobile camera.