• Journal of Sensor Science and Technology
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• v.14 no.4
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• pp.278-285
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• 2005

This paper describes techniques of camera calibration and artificial landmarks detection for the automatic charging of a mobile robot, equipped with a fish-eye camera in the direction of its operation for movement or surveillance purposes. For its identification from the surrounding environments, three landmarks employed with infrared LEDs, were installed at the charging station. When the robot reaches a certain point, a signal is sent to the LEDs for activation, which allows the robot to easily detect the landmarks using its vision camera. To eliminate the effects of the outside light interference during the process, a difference image was generated by comparing the two images taken when the LEDs are on and off respectively. A fish-eye lens was used for the vision camera of the robot but the wide-angle lens resulted in a significant image distortion. The radial lens distortion was corrected after linear perspective projection transformation based on the pin-hole model. In the experiment, the designed system showed sensing accuracy of ${\pm}10$ mm in position and ${\pm}1^{\circ}$ in orientation at the distance of 550 mm.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.1
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• pp.47.1-47.1
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• 2016

The determination of three dimensional parameters (e.g., radial speed, angular width, source location) of Coronal Mass Ejections (CMEs) is very important for space weather forecast. To estimate these parameters, several cone models based on a flat cone or a shallow ice-cream cone with spherical front have been suggested. In this study, we investigate which cone model is proper for halo CME morphology using 26 CMEs which are identified as halo CMEs by one spacecraft (SOHO or STEREO-A or B) and as limb CMEs by the other ones. From geometrical parameters of these CMEs such as their front curvature, we find that near full ice-cream cone CMEs are dominant over shallow ice-cream cone CMEs. Thus we develop a new full ice-cream cone model by assuming that a full ice-cream cone consists of many flat cones with different heights and angular widths. This model is carried out by the following steps: (1) construct a cone for given height and angular width, (2) project the cone onto the sky plane, (3) select points comprising the outer boundary, (4) minimize the difference between the estimated projection speeds with the observed ones. We apply this model to 12 SOHO halo CMEs and compare the results with those from other stereoscopic methods (a geometrical triangulation method and a Graduated Cylindrical Shell model) based on multi-spacecraft data.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.50 no.9
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• pp.431-437
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• 2001

Since the eddy current problem usually depends on the geometry of the moving conductive sheet and the shape of the pole projection area, there is no general method to find out its analytical solution. The analysis of the eddy current in a rotating disk is performed in the case of time-invariant field to find its analytical solution. As a method to solve the eddy current problem, the concept of the Coulomb charge and image method are proposed with the consideration of the boundary condition. Firstly, the line charge is obtained from the volume charge generated in the rotating disk and Coulomb's law is applied. Secondly, the finite disk radius is considered by introducing an imaginary eddy current to satisfy the boundary condition that the radial component of the eddy current is zero at the edge of the relating disk. Thirdly, the braking torque is calculated by applying Lorentz force law. Finally, the computed braking torque is compared with the measured one As a result, it can be said that the proposed model presents fairly accurate results in a low angular velocity range although a large error is observed as the angular velocity of the disk increases.

• Investigative Magnetic Resonance Imaging
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• v.4 no.1
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• pp.42-51
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• 2000

Purpose: Projection-type Fast Spin Echo (PFSE) imaging is robust to patient motion or flow related artifact compared to conventional Fast Spin Echo (FSE) imaging, however, it has difficulty in controlling $T_2$ contrast. In this paper, Tz contrast in the PFSE method is analyzed and compared with those of the FSE method with various effective echo times by computer simulation. The contrasts in the FSE and PFSE methods are also compared by experiments with volunteers. From the analysis and simulation, it is shown that ${T_2}-weighted$ images can well be obtained by the PFSE method proposed. Materials and methods: Pulse sequence for the PFSE method is implemented at a 1.0 Tesla whole body MRI system and $T_2$ contrasts in the PFSE and FSE methods are analyzed by computer simulation and experiment with volunteers. For the simulation, a mathematical phantom composed of various $T_2$ values is devised and $T_2$ contrast in the reconstructed image by the PFSE is compared to those by the FSE method with various effective echo times. Multi-slice ${T_2}-weighted$ head images of the volunteers obtained by the PFSE method are also shown in comparison with those by the FSE method at a 1.0 Tesla whole body MRI system. Results: From the analysis, $T_2$ contrast by the PFSE method appears similar to those by the FSE method with the effective echo time in a range of SO-lOOms. Using a mathematical phantom, contrast in the PFSE image appears close to that by the FSE method with the effective echo time of 96ms. From experiment with volunteers, multi-slice $T_2-weighted$ images are obtained by the PFSE method having contrast similar to that of the FSE method with the effective echo time of 96ms. Reconstructed images by the PFSE method show less motion related artifact compared to those by the FSE method. Conclusion: The projection-type FSE imaging acquires multiple radial lines with different angles in polar coordinate in k space using multiple spin echoes. The PFSE method is robust to patient motion or flow, however, it has difficulty in controlling $T_2$ contrast compared to the FSE method. In this paper, it is shown that the PFSE method provides good $T_2$ contrast (${T_2}-weighted$ images) similar to the FSE method by both computer simulation and experiments with volunteers.

• Journal of the Korea Society for Simulation
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• v.19 no.1
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• pp.23-31
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• 2010

Due to the fact that fisheye lens can provide super wide angles with the minimum number of cameras, field-of-view over 180 degrees, many vehicles are attempting to mount the camera system. Not only use the camera as a viewing system, but also as a camera sensor, camera calibration should be preceded, and geometrical correction on the radial distortion is needed to provide the images for the driver's assistance. In this thesis, we introduce a geometric correction technique to minimize the loss of the image data from a vehicle fish-eye lens having a field of view over $180^{\circ}$, and a asymmetric distortion. Geometric correction is a process in which a camera model with a distortion model is established, and then a corrected view is generated after camera parameters are calculated through a calibration process. First, the FOV model to imitate a asymmetric distortion configuration is used as the distortion model. Then, we need to unify the axis ratio because a horizontal view of the vehicle fish-eye lens is asymmetrically wide for the driver, and estimate the parameters by applying a non-linear optimization algorithm. Finally, we create a corrected view by a backward mapping, and provide a function to optimize the ratio for the horizontal and vertical axes. This minimizes image data loss and improves the visual perception when the input image is undistorted through a perspective projection.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2372-2374
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• 2003

With 3-D vision measuring, camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. The first establishes reference points in space, and the second uses a grid type frame and statistical method. But, the former has difficulty to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. It can easily estimate camera calibration parameters such as focal length, scale factor, pose, orientations, and distance. But, radial lens distortion is not modeled. The advantage of this algorithm is that it can estimate the distance of the object. Also, the proposed camera calibration method is possible estimate distance in dynamic environment such as autonomous navigation. To validate proposed method, we set up the experiments with a frame on rotator at a distance of 1,2,3,4[m] from camera and rotate the frame from -60 to 60 degrees. Both computer simulation and real data have been used to test the proposed method and very good results have been obtained. We have investigated the distance error affected by scale factor or different line widths and experimentally found an average scale factor that includes the least distance error with each image. It advances camera calibration one more step from static environments to real world such as autonomous land vehicle use.

• Journal of the Korea Society of Computer and Information
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• v.14 no.6
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• pp.41-49
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• 2009

In this paper, the multi-camera calibration algorithm for optical motion capture system is proposed. This algorithm performs 1st camera calibration using DLT(Direct linear transformation} method and 3-axis calibration frame with 7 optical markers. And 2nd calibration is performed by waving with a wand of known length(so called wand dance} throughout desired calibration volume. In the 1st camera calibration, it is obtained not only camera parameter but also radial lens distortion parameters. These parameters are used initial solution for optimization in the 2nd camera calibration. In the 2nd camera calibration, the optimization is performed. The objective function is to minimize the difference of distance between real markers and reconstructed markers. For verification of the proposed algorithm, re-projection errors are calculated and the distance among markers in the 3-axis frame and in the wand calculated. And then it compares the proposed algorithm with commercial motion capture system. In the 3D reconstruction error of 3-axis frame, average error presents 1.7042mm(commercial system) and 0.8765mm(proposed algorithm). Average error reduces to 51.4 percent in commercial system. In the distance between markers in the wand, the average error shows 1.8897mm in the commercial system and 2.0183mm in the proposed algorithm.

• The Korean Journal of Nuclear Medicine
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• v.39 no.1
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• pp.49-56
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• 2005

Purpose: Dedicated animal PET is useful equipment for the study of new PET tracer. recently, microPET R4 was installed in the Korea institute of radiology and medical science. In this study, we measured the characteristics of scanner. Materials and methods: Resolution was measured using a line source (F-18:65 ${\mu}Ci$, inner diameter: 0.5 mm). The line source was put in the axial direction and was moved from the center of field of view to outside with 1 mm interval. PET images were reconstructed using a filtered back-protection and ordered subset expectation maximization. line source (16.5 ${\mu}Ci$, 78 mm) was put on the tenter of axial direction to measure the sensitivity when the deadtime was under 1%. Images were acquired during 4 minutes respectively from center to 39 mm outward. Delayed count was subtracted from total count and then decay was corrected for the calculation of sensitivity. Noise equivalent count ratio and scatter fraction were calculated using cylindrical phantom. Results: Spatial resolution of reconstructed image using filtered back-projection was 1.86 mm(radial), 1.95 mm(tangential), 1.95 mm(axial) in the tenter of field of view, and 2.54 mm, 2.8 mm, 1.61 mm in 2 cm away from the center respectively. Sensitivity was 2.36% at the center of transaxial field of view. Scatter fraction was 20%. Maximal noise equivalent count ratio was 66.4 kcps at 242 kBq/mL. Small animal images were acquired for confirmation of performance. Conclusion: Performance characteristics of microPET R4 were similar with reported value. So this will be a useful tool for small animal imaging.