• Korean Journal of Optics and Photonics
• /
• v.20 no.2
• /
• pp.94-101
• /
• 2009

A novel method for the reconstruction of 3D shape and texture from elemental images has been proposed. Using this method, we can estimate a full 3D polygonal model of objects with seamless triangulation. But in the triangulation process, all the objects are stitched. This generates phantom surfaces that bridge depth discontinuities between different objects. To solve this problem we need to connect points only within a single object. We adopt a segmentation process to this end. The entire process of the proposed method is as follows. First, the central pixel of each elemental image is computed to extract spatial position of objects by correspondence analysis. Second, the object points of central pixels from neighboring elemental images are projected onto a specific elemental image. Then, the center sub-image is segmented and each object is labeled. We used the normalized cut algorithm for segmentation of the center sub-image. To enhance the speed of segmentation we applied the watershed algorithm before the normalized cut. Using the segmentation results, the subdivision process is applied to pixels only within the same objects. The refined grid is filtered with median and Gaussian filters to improve reconstruction quality. Finally, each vertex is connected and an object-based triangular mesh is formed. We conducted experiments using real objects and verified our proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.9
• /
• pp.776-787
• /
• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.5
• /
• pp.2113-2120
• /
• 2013

In this study, an efficient machine vision based inspection system is developed for the in-line measurement of phosphor resin dispensing shapes on LED chip package. Since the phosphor resin (target material) has semitransparent characteristics, illuminated light beam is reflected from the bottom of the chip as well as from the surface. Since such phenomenon can deteriorate inspection reliability, a white LED and a 635nm laser slit beams are experimentally tested to decide suitable illumination optics. Also, specular and diffuse reflection methods are tested to decide suitable optical triangulation. As a result, it can be known that the combination of a white slit beam source and specular reflection method show the best inspection results. The Catmull-Rom spline interpolation is applied to the obtained data to form smoother surface. From the results, it can be conclude that the developed system can be sucessfully applied to the in-line inspection of LED chip packaging process.

• The Journal of the Korea Contents Association
• /
• v.11 no.4
• /
• pp.428-439
• /
• 2011

It is well known that the sound characteristics of Korean bell depend on the shape and the alloy constituents. Development of the methods to acquire exact shape data and alloy constituents of the whole body of the bell is very important for the study and systematic management of Korean bells. The practical scanning and modeling methods to get shape data from optical triangulation laser scanners are proposed. The 3D shape data by the proposed methods can be the basis of diverse measurements such as curvature, volume, thickness and the distance between any two points. A nondestructive alloy constituents measuring method which can overcome the limitations of partial data collection and damages to Korean bells is also suggested to get the whole alloy characteristics. Following the developed methods, the data of the shapes and alloy constituents of 18 Korean bells are collected and the errors of existing measurement data for the shape have been corrected.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.48 no.4
• /
• pp.86-93
• /
• 2011

The ship movement implies current position, wave, wind, and its other factors. We need to know exactly the location and the shape of the ship and control its motion because of these effects. In order to control the small ship according to the movement of the large ship, the position and shape of the ship should be given first. In this paper we propose the method with which we know the current status of the ship without dynamic equations of the ship. There are several methods to track the system such as optical, radio frequency, radar, camera, and infrared light. We propose the movement of the ship using the GPS absolute axis. But, the genuine error by the GPS itself and the movement of the ship cause the result of the GPS of not being accurate. This paper reduces the error of the location and the shape of the ship and gives the exact values of the ship movements even if the GPS implies some error itself.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.39 no.4
• /
• pp.223-233
• /
• 2021

Systematic and continuous monitoring and management of the energy consumption of buildings are important for estimating building energy efficiency, and ultimately aim to cope with climate change and establish effective policies for environment, and energy supply and demand policies. Globally, buildings consume 36% of total energy and account for 39% of carbon dioxide emissions. The purpose of this study is to generate three-dimensional thermo-spatial building models with photogrammetric technique using drone TIR (Thermal Infrared) images to measure the temperature emitted from a building, that is essential for the building energy rating system. The aerial triangulation was performed with both optical and TIR images taken from the sensor mounted on the drone, and the accuracy of the models was analyzed. In addition, the thermo-spatial models of temperature distribution of the buildings in three-dimension were visualized. Although shape of the objects 3D building modeling is relatively inaccurate as the spatial and radiometric resolution of the TIR images are lower than that of optical images, TIR imagery could be used effectively to measure the thermal energy of the buildings based on spatial information. This paper could be meaningful to present extension of photogrammetry to various application. The energy consumption could be quantitatively estimated using the temperature emitted from the individual buildings that eventually would be uses as essential information for building energy efficiency rating system.

• Design & Manufacturing
• /
• v.14 no.1
• /
• pp.8-14
• /
• 2020

In general, auto parts production assembly line is assembled and produced by automatic mounting by an automated robot. In such a production site, quality problems such as misalignment of parts (doors, trunks, roofs, etc.) to be assembled with the vehicle body or collision between assembly robots and components are often caused. In order to solve such a problem, the quality of parts is manually inspected by using mechanical jig devices outside the automated production line. Automotive inspection technology is the most commonly used field of vision, which includes surface inspection such as mounting hole spacing and defect detection, body panel dents and bends. It is used for guiding, providing location information to the robot controller to adjust the robot's path to improve process productivity and manufacturing flexibility. The most difficult weighing and measuring technology is to calibrate the surface analysis and position and characteristics between parts by storing images of the part to be measured that enters the camera's field of view mounted on the side or top of the part. The problem of the machine vision device applied to the automobile production line is that the lighting conditions inside the factory are severely changed due to various weather changes such as morning-evening, rainy days and sunny days through the exterior window of the assembly production plant. In addition, since the material of the vehicle body parts is a steel sheet, the reflection of light is very severe, which causes a problem in that the quality of the captured image is greatly changed even with a small light change. In this study, the distance between the car body and the door part and the door are acquired by the measuring device combining the laser slit light source and the LED pattern light source. The result is transferred to the joint robot for assembling parts at the optimum position between parts, and the assembly is done at the optimal position by changing the angle and step.