• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.527-530
• /
• 1996

The Kalman filter has been used as a self-localization method for the mobile robot. To satisfy the assumptions inherent in the Kalman filter, we should calibrate the sensors of the robot before use of them. However, it is generally hard to find exact sensor parameters, and the parameters may change during the robot task as the environment varies. Thus we need to perform on-line sensor calibration, by which we can obtain more credible location of the mobile robot. In this paper, we present an on-line sensor calibration scheme which estimates the unknown sensor bias and the current position of the robot. To this end, first we find out the calibration errors of the sensor from redundant sensory data using the parity vector and recursive minimum variance estimation. Then we calculate the current position of the robot by weighted least square estimation without internal encoder data. The performance of the proposed method is evaluated through computer simulation.

• 제어로봇시스템학회논문지
• /
• 제2권3호
• /
• pp.188-193
• /
• 1996

In this paper, an integrated navigation system based on GPS(Global Positioning System) and Dead-Reckoning (DR) is designed. For the calibration of DR, a self-calibration method and a GPS-based calibration method are proposed. From the field-test results, it is shown that DR can be successfully calibrated by the two proposed calibration methods. Also, a cascaded filter approach and a mixed-measurement algorithm are employed for GPS/DR integration. By using the newly proposed mixed-measurement algorithm, it is shown in simulation that the position error becomes smaller than by using only DR even if the number of visible GPS satellites is less than 4.

• 한국정밀공학회지
• /
• 제27권3호
• /
• pp.50-57
• /
• 2010

A high precision air bearing stage has been developed and calibrated. This linear-motor driven stage was designed to transport a glass or wafer with the X and Y following errors in nanometer regime. To achieve this level of precision, bar type mirrors were adopted for real time ${\Delta}X$ and ${\Delta}Y$ laser measurement and feedback control. With the laser wavelength variation and instability being kept minimized through strict environment control, the orthogonality of this type of control system becomes purely dependent upon the surface flatness, distortion, and assembly of the bar mirrors. Compensations for the bar mirror distortions and assembly have been performed using the self-calibration method. As a result, the orthogonality error of the stage was successfully decreased from $0.04^{\circ}$ to 2.48 arcsec.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제10권6호
• /
• pp.2689-2708
• /
• 2016

Multi-camera systems which integrate two or more low-cost digital cameras are adopted to reach higher ground coverage and improve the base-height ratio in low altitude remote sensing. To guarantee accurate multi-camera integration, the geometric relationship among cameras must be determined through platform calibration techniques. This paper proposed a combined two-step platform calibration method. In the first step, the static platform calibration was conducted based on the stable relative orientation constraint and convergent conditions among cameras in static environments. In the second step, a dynamic platform self-calibration approach was proposed based on not only tie points but also straight lines in order to correct the small change of the relative relationship among cameras during dynamic flight. Experiments based on the proposed two-step platform calibration method were carried out with terrestrial and aerial images from a multi-camera system combined with four consumer-grade digital cameras onboard an unmanned aerial vehicle. The experimental results have shown that the proposed platform calibration approach is able to compensate the varied relative relationship during flight, acquiring the mosaicing accuracy of virtual images smaller than 0.5pixel. The proposed approach can be extended for calibrating other low-cost multi-camera system without rigorously mechanical structure.

• 한국광학회지
• /
• 제13권2호
• /
• pp.98-104
• /
• 2002

비구면 광학부품의 수차 측정 및 성능 평가를 위해 특별 설계된 층밀리기 간섭계를 소개하고, 이와 더불어 층밀리기 간섭계가 갖는 자체의 계통오차를 측정결과로부터 제거하기 위한 보정 방법을 제안한다. 층밀리기 간섭계의 계통오차는 크게 간섭광학계가 갖는 광학오차와 간섭계의 기구부의 불완전에 기인한 층밀리기 방향의 직교오차로 구분할 수 있다. 이들 두 계통 오차들은 모두 본 논문에서 제안하는 방법으로 모두 보정될 수 있다. 보정 방법은 측정 대상물을 간섭계의 광축을 중심으로 회전하여 측정결과로부터 계통오차를 분리하는 자가보정 원리에 근거한다.

• 한국측량학회:학술대회논문집
• /
• 한국측량학회 2003년도 춘계학술발표회 논문집
• /
• pp.151-159
• /
• 2003

This study presents method for self-calibration of the SEM(Scanning Electron Microscope) stereo image using the standard microprobe with same grid pattern and using parallel and central perspective projection equation. Result showed that parallel projection method is more suitable for standard microprobe. The maximum error of 3D coordinates acquired by this method did not exceed 5 $\mu\textrm{m}$, and DSM(Digital Surface Model) for three dimensional measurement of the rock sample was generated by the digital photogrammetry. This result can be used for quantification of micro scale change of shape and analysis of the micro morphology of rock due to weathering.

• 한국전자파학회논문지
• /
• 제21권4호
• /
• pp.433-442
• /
• 2010

본 논문에서는 멀티베이스라인 인터페로미터 방향 탐지 시스템에서 진폭 및 위상 부정합 오차를 보정할 수 있는 공분산행렬 기반 자체 교정 알고리즘을 제안한다. 제안된 기법은 비용함수를 정의한 후 제한 조건을 갖는 비선형 최소화 방법으로서, 공간 섹터를 이용하여 부정합 오차를 획기적으로 교정하는 알고리즘이다. 다만 공간 섹터를 선정하기 위하여 초기 추정각을 요구하는 단점이 있으나, 이는 일반적인 비선형 최소화 문제의 공통적인 단점이다. 적절한 공간 섹터 간격을 선정하여 시뮬레이션한 결과, 제안된 방법이 기존 인터페로미터 방식보다 표본바이어스, 표본표준편차, 평균제곱오차면에서 획기적으로 우수한 통계적 성능을 보여주었다. 더구나 섹터 간격이 도래각과 $5^{\circ}$ 이내일 경우에, 30 dB의 진폭 부정합 및 $50^{\circ}$ 이상 큰 값의 위상 부정합이 발생하는 경우에도 획기적인 보정 능력을 보여주었으며, 신호대 잡음비에도 덜 민감한 특징을 나타내었다.

• 제어로봇시스템학회논문지
• /
• 제5권2호
• /
• pp.228-236
• /
• 1999

In this paper, we propose visual-based self-localization and obstacle detection algorithms for indoor mobile robots. The algorithms do not require calibration, and can be worked with only single image by using the projective invariant relationship between natural landmarks. We predefine a risk zone without obstacles for a robot, and update the image of the risk zone, which will be used to detect obstacles inside the zone by comparing the averaging image with the current image of a new risk zone. The positions of the robot and the obstacles are determined by relative positioning. The method does not require the prior information for positioning robot. The robustness and feasibility of our algorithms have been demonstrated through experiments in hallway environments.

• 전자공학회논문지B
• /
• 제32B권5호
• /
• pp.777-787
• /
• 1995

This paper presents a new method for automatically calibrating robot link (Kinematic) parameters during the process of estimating motion parameters of a moving object. The motion estimation is performed based on stereo cameras mounted on the end-effector of a robot manipulator. This approach significantly differs from other calibration approaches in that the calibration is achieved by simply observing the motion of the moving object (without resorting to any other external calibrating tools) at numerous and widely varying joint-angle configurations. A differential error model, which expresses the measurement errors of a robot in terms of robot link parameter errors and motion parameters, is developed. And then a measurement equation representing the true measurement values is derived. By estimating the above two kinds of parameters minimizing the difference between the measurement equations and the true moving pattern, the calibration of the robot link parameters and the estimation of the motion parameters are accomplished at the same time.

• 한국산학기술학회논문지
• /
• 제13권9호
• /
• pp.3856-3863
• /
• 2012

스테레오 영상으로부터 3차원 형상을 구현함에 있어 사용자의 개입을 최소로 필요로 하는 기법을 개발하였다. 형상구현은 특정 기하학 그룹을 평가하는 3단계로 이루어진다. 1단계는 영상에 존재하는 epipolar 기하 평가로 각 영상에서의 특정점들을 일치시킨다. 2단계는 소실점 방법을 이용하여 투영공간에서 특정평면을 찾는 affine 기하 평가이다. 3단계에서는 카메라의 자기보정을 포함하며 3차원 모델이 얻어질 수 있는 계량 기하 변수를 구한다. 이 방법의 장점은 형상구현을 위해 스테레오 영상을 보정할 필요가 없는 것으로, 그 구현가능성을 실증하였다.