• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.400-405
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• 2009

A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resultant omnidirectional stereo system becomes versatile and cost-effective. The closed-form solution for 3D distance computation is presented based on the simple optics including the reflection and the reflection of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.2
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• pp.109-121
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• 2020

Depth calculation of objects in a scene from images is one of the most studied processes in the fields of image processing, computer vision, and photogrammetry. Conventionally, depth is calculated using a pair of overlapped images captured at different view points. However, there have been studies to calculate depths from a single image. Theoretically, it is known to be possible to calculate depth using the diameter of CoC (Circle of Confusion) caused by defocus under the assumption of a thin lens model. Thus, this study aims to verify the validity of the thin lens model to calculate depth from edge blur amount which corresponds to the radius of CoC. For this study, a commercially available DSLR (Digital Single Lens Reflex) camera was used to capture a set of target sheets which had different edge contrasts. In order to find out the pattern of the variations of edge blur against varying combination of FD (Focusing Distance) and OD (Object Distance), the camera was set to varying FD and target sheet images were captured at varying OD under each FD. Then, the edge blur and edge displacement were estimated from edge slope profiles using a brute-force method. The experimental results show that the pattern of the variations of edge blur observed in the target images was apart from their corresponding theoretical amounts derived under the thin lens assumption but can still be utilized to calculate depth from a single image for the cases similar to the limited conditions experimented under which the tendency between FD and OD is manifest.

• Journal of Korean Ophthalmic Optics Society
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• v.5 no.2
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• pp.65-72
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• 2000

The study investigated the effects of base curve radius art the fit of thin, mid-water contact lenses. It was found that central corneal curvature(as measured with the keratometer) was not predictive of the best fitting base curve. Proper lens fit may be the single most important factor that ultimately determines the success of contact lens wear. Comfort, vision, and physiological response are all dependent on the fit of the lens. The percent of optimal fits was highest with the 8.4 mm base curve lens for all three ranges of keratometry values. When fit with the 8.4 mm lens. For most eyes, fitting a flatter lens led to greater decentration, decreased comfort, and no increase in lens movement. The 8.4 mm lens was found to provide on "optimal" fit in over 60% of eyes tested and a fit of "good" or "better" in nearly 90% of eyes tested. Comparisons of different manufactures' lens found that similiar lenses do not always fit in the same way due to subtle design and production differences. Therefore, different products may require different base curve radii to fit the same patient. This is even true when water content, center thickness, and diameter are approximately the same. A praditioner fitting a new patient in this lenses should begin with the 8.4 mm base curve radius.

• 한국가시화정보학회:학술대회논문집
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• 2006.12a
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• pp.1-6
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• 2006

Single-Camera Stereoscopic Vision three-dimensional measurement system has been developed based upon 30-PTV algorithm. The system consists of one camera $(1k\times1k)$ and a host computer. To attain three-dimensional measurements a plate having stereo holes has been installed inside of the lens system. Three-dimensional measurements was successfully attained by adopting the conventional 30-PTV camera calibration methods. As applications of the constructed measurement system, a water droplet mixed with alcohol was constructed on a transparent plastic plate with the contacted fluid diameter 4mm, and the particles motions inside of the droplet have been investigated with the constructed measurement system. The measurement uncertainty of the constructed system was 0.04mm, 0.04mm and 0.09mm for X, Y and Z coordinates.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.955-959
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• 2013

It is possible to obtain an omnidirectional stereo image via a single camera by using a catadioptric approach with a convex mirror and concave lens. In order to measure three-dimensional distance using the imaging system, the optical parameters of the system are required. In this paper, a calibration procedure to extract the parameters of the imaging system is described. Based on the parameters, experiments are carried out to verify the performance of the three-dimensional distance measurement of a single camera omnidirectional stereo imaging system.

• Journal of Korean Ophthalmic Optics Society
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• v.13 no.4
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• pp.51-58
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• 2008

Purpose: This study was assessed to investigate adverse effect induced by overuse of disposable soft contact lenses (CL). Methods: Three disposable lenses (etafilcon A, hilabilcon A, and nelfilcon A) were applied to 19 normal subjects free from any eye diseases for either a single day or variable periods by when subjects complained any discomforts. On the first and last days, localizations of lens' center on corneal surface and blink rates were recorded at every case. Results: Among CL wearers, 10.5% and 47.4% of total subjects quit wearing on the second day and third day, respectively. The case of stopping disposable lens wear was continuously increased with extended hour of lens application. On fourth day, 70.2% of CL wearers reported severe discomforts such as redness, dryness, irritation, pain and blurred vision. When subjects stopped CL wear, decentration of lens from the center of cornea was observed when it compared to the case of single usage of disposable CL. Also about 80% of total subjects showed increased blink rate when CL were worn for more than 2 days. These changes in lens centration and blink rate were consistantly shown regardless of lens types. Conclusions: Blurred vision and acute/chronic discomforts could occur to CL wearers by decentration of lens and increased blink rate when CL were overused more than 2 days even the numbers of two parameters measured in this study were variable by each subject or lens types. Therefore, consideration of individual characteristics and lens types is critical to prevent adverse effects may induced by overusage of disposable lens.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.6
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• pp.527-532
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• 2013

Depth estimation is an essential factor for robot vision, 3D scene modeling, and motion control. The depth estimation method is based on focusing values calculated in a series of images by a single camera at different distance between lens and object. In this paper, we proposed a relative depth estimation method using focus measure. The proposed method is implemented by focus value calculated for each image obtained at different lens position and then depth is finally estimated by considering relative distance of two patterns. We performed various experiments on the effective focus measures for depth estimation by using various patterns and their usefulness.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• Journal of the Korea Society of Computer and Information
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• v.26 no.4
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• pp.39-46
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• 2021

In this paper, we propose a method for the motion recognition method required in the industrial field in mixed reality. In industrial sites, movements (grasping, lifting, and carrying) are required throughout the upper full-body, from trunk movements to arm movements. In this paper, we use a method composed of sensors and wearable devices that are not vision-based such as Kinect without using heavy motion capture equipment. We used two IMU sensors for the trunk and shoulder movement, and used Myo arm band for the arm movements. Real-time data coming from a total of 4 are fused to enable motion recognition for the entire upper body area. As an experimental method, a sensor was attached to the actual clothes, and objects were manipulated through synchronization. As a result, the method using the synchronization method has no errors in large and small operations. Finally, through the performance evaluation, the average result was 50 frames for single-handed operation on the HoloLens and 60 frames for both-handed operation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.224-229
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• 2007

This paper presents a camera calibration method using several images for three dimensional measurement applications such as stereo systems, mobile robots, and visual inspection systems in factories. Conventional calibration methods that use single image suffer from errors related to reference point extraction in image, lens distortion, and numerical analysis of nonlinear optimization. The camera parameter values obtained from images of same camera is not same even though we use same calibration method. The camera parameters that are obtained from several images of different view for a calibration target is usaully not same with large error values and we can not assume a special probabilistic distribution when we estimate the parameter values. In this paper, the median value of camera parameters from several images is used to improve estimation of the camera values in an iterative step with nonlinear optimization. The proposed method is proved by experiments using real images.