• Title/Summary/Keyword: Multi-Vision

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Development of 3-dimensional measuring robot cell (3차원 측정 로보트 셀 개발)

  • Park, Kang;Cho, Koung-Rae;Shin, Hyun-Oh;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • 1991.10a
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    • pp.1139-1143
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    • 1991
  • Using industrial robots and sensors, we developed an inline car body inspection system which proposes high flexibility and sufficient accuracy. Car Body Inspection(CBI) cell consists of two industrial robots, two corresponding carriages, camera vision system, a process computer with multi-tasking ability and several LDS's. As industrial robots guarantee sufficient repeatabilities, the CBI cell adopts the concept of relative measurement instead of that of absolute measurement. By comparing the actual measured data with reference data, the dimensional errors of the corresponding points can be calculated. The length of the robot arms changes according to ambient temperature and it affects the measuring accuracy. To compensate this error, a robot arm calibration process was realized. By measuring a reference jig, the differential changes of the robot arms due to temperature fluctuation can be calculated and compensated.

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Bimodal Approach of Multi-Sensor Integration for Telematics Application (텔레매틱스 응용을 위한 다중센서통합의 이중 접근구조)

  • 김성백;이승용;최지훈;장병태;이종훈
    • Proceedings of the IEEK Conference
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    • 2003.11a
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    • pp.525-528
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    • 2003
  • In this paper, we present a novel idea to integrate low cost Inertial Measurement Unit(IMU) and Differential Global Positioning System (DGPS) for Telematics applications. As well known, low cost IMU produces large positioning and attitude errors in very short time due to the poor quality of inertial sensor assembly. To conquer the limitation, we present a bimodal approach for integrating IMU and DGPS, taking advantage of positioning and orientation data calculated from CCD images based on photogrammetry and stereo-vision techniques. The positioning and orientation data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method that can provide accurate position and attitude information for extended period for non-aided GPS information.

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Stereo vision mixed reality system using the multi-blob marker (다중 블럽 마커를 이용한 스테레오 비전 혼합현실 시스템의 구현)

  • 양기선;김한성;손광훈
    • Proceedings of the IEEK Conference
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    • 2003.07e
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    • pp.1907-1910
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    • 2003
  • This paper describes a method of stereo image composition for mixed reality without camera calibration or complicate tracking algorithm. The proposed system tracks the panel which has blob makers, and composes virtual objects naturally using the method of texture mapping which is often used in geological computer graphics mapping when we do mapping 2D computer graphic data or man-made 2D images. The proposed algorithm makes it possible for us to compose virtual data even in the case that the panel is bent. For composing 3D object, the system uses depth information obtained from stereo image so that we do not need cumbersome procedure of camera calibration.

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Environmental Monitoring System for Base Station with Sensor Node Networks

  • Hur, Chung-Inn;Kim, Hwan-Yong
    • Journal of information and communication convergence engineering
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    • v.7 no.3
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    • pp.258-262
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    • 2009
  • A Practical application of environmental monitoring system based on wireless sensor node network with the core of embedded system STR711FR2 microprocessor is presented in the paper. The adaptable and classifiable wireless sensor node network is used to achieve the data acquisition and multi-hop wireless communication of parameters of the monitoring base station environment including repeaters. The structure of the system is proposed and the hardware architecture of the system is designed, and the system operating procedures is proposed. As a result of field test, designed hardware platform operated with 50kbps bit rate and 5MHz channel spacing at 2040Hz. The wireless monitoring system can be managed and swiftly retreated without support of base station environmental monitoring.

MULTI-VIEW STEREO CAMERA CALIBRATION USING LASER TARGETS FOR MEASUREMENT OF LONG OBJECTS

  • Yoshimi, Takashi;Yoshimura, Takaharu;Takase, Ryuichi;Kawai, Yoshihiro;Tomita, Fumiaki
    • Proceedings of the Korean Society of Broadcast Engineers Conference
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    • 2009.01a
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    • pp.566-571
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    • 2009
  • A calibration method for multiple sets of stereo vision cameras is proposed. To measure the three-dimensional shape of a very long object, measuring the object at different viewpoints and registration of the data are necessary. In this study, two lasers beams generate two strings of calibration targets, which form straight lines in the world coordinate system. An evaluation function is defined to calculate the sum of the squares of the distances between each transformed target and the fitted line representing the laser beam to each target, and the distances between points appearing in the data sets of two adjacent viewpoints. The calculation process for the approximation method based on data linearity is presented. The experimental results show the effectiveness of the method.

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DIND Data Fusion with Covariance Intersection in Intelligent Space with Networked Sensors

  • Jin, Tae-Seok;Hashimoto, Hideki
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.7 no.1
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    • pp.41-48
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    • 2007
  • Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose "Intelligent Space" platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.

On-field Crop Stress Detection System Using Multi-spectral Imaging Sensor

  • Kim, Yunseop;Reid, John F.;Hansen, Alan;Zhang, Qin
    • Agricultural and Biosystems Engineering
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    • v.1 no.2
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    • pp.88-94
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    • 2000
  • Nitrogen (N) management is critical for corn production. On the other hand, N leaching into the groundwater creates serious environmental problems. There is a demand for sensors that can assess the plant N deficiency throughout the growing season to allow producers to reach their production goals, while maintaining environmental quality. This paper reports on the performance of a vision-based reflectance sensor for real-time assessment of N stress level of corn crops. Data were collected representing the changes in crop reflectance in various spectral ranges over several stages of development in the growing season. The performance of this non-contact sensor was validated under various field conditions with reference measurement from a Minolta SPAD meter and stepped nitrogen treatments.

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Internal Teleoperation of an Autonomous Mobile Robot (인터넷을 이용한 자율운행로봇의 원격운용)

  • 박태현;강근택;이원창
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.45-45
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    • 2000
  • This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

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An Analysis of 2D Positional Accuracy of Human Bodies Detection Using the Movement of Mono-UWB Radar

  • Kiasari, Mohammad Ahangar;Na, Seung You;Kim, Jin Young
    • Journal of Sensor Science and Technology
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    • v.23 no.3
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    • pp.149-157
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    • 2014
  • This paper considers the ability of counting and positioning multi-targets by using a mobile UWB radar device. After a background subtraction process, distinguishing between clutters and human body signals, the position of targets will be computed using weighted Gaussian mixture methods. While computer vision offers many advantages, it has limited performance in poor visibility conditions (e.g., at night, haze, fog or smoke). UWB radar can provide a complementary technology for detecting and tracking humans, particularly in poor visibility or through-wall conditions. As we know, for 2D measurement, one method is the use of at least two receiver antennas. Another method is the use of one mobile radar receiver. This paper tried to investigate the position detection of the stationary human body using the movement of one UWB radar module.

Localization and Autonomous Control of PETASUS System II for Manipulation in Structured Environment (구조화된 수중 환경에서 작업을 위한 PETASUS 시스템 II의 위치 인식 및 자율 제어)

  • Han, Jonghui;Ok, Jinsung;Chung, Wan Kyun
    • The Journal of Korea Robotics Society
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    • v.8 no.1
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    • pp.37-42
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    • 2013
  • In this paper, a localization algorithm and an autonomous controller for PETASUS system II which is an underwater vehicle-manipulator system, are proposed. To estimate its position and to identify manipulation targets in a structured environment, a multi-rate extended Kalman filter is developed, where map information and data from inertial sensors, sonar sensors, and vision sensors are used. In addition, a three layered control structure is proposed as a controller for autonomy. By this controller, PETASUS system II is able to generate waypoints and make decisions on its own behaviors. Experiment results are provided for verifying proposed algorithms.