• 제목/요약/키워드: Stereo Vision System

검색결과 303건 처리시간 0.031초

스테레오 영상을 이용한 이동형 머니퓰레이터의 시각제어 (Visual Servoing of a Mobile Manipulator Based on Stereo Vision)

  • 이현정;박민규;이민철
    • 제어로봇시스템학회논문지
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    • 제11권5호
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    • pp.411-417
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    • 2005
  • In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the potion of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.

AGV의 장애물 판별을 위한 스테레오 비젼시스템의 거리오차 해석 (Analysis of Distance Error of Stereo Vision System for Obstacle Recognition System of AGV)

  • 조연상;배효준;원두원;박흥식
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2001년도 춘계학술대회 논문집
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    • pp.170-173
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    • 2001
  • To apply stereo vision system to obstacle recognition system of AGV, we constructed algorithm of stereo matching and distance measuring with stereo image for positioning of object in area. And using this system, we look into the error between real position and measured position, and studied relationship of compensation.

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스테레오 비전 기반의 이동객체용 실시간 환경 인식 시스템 (Investigation on the Real-Time Environment Recognition System Based on Stereo Vision for Moving Object)

  • 이충희;임영철;권순;이종훈
    • 대한임베디드공학회논문지
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    • 제3권3호
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    • pp.143-150
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    • 2008
  • In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.

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Visual Servoing of a Mobile Manipulator Based on Stereo Vision

  • Lee, H.J.;Park, M.G.;Lee, M.C.
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.767-771
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    • 2003
  • In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

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스테레오 비전에서 비용 축적 알고리즘의 비교 분석 (Comparative Analysis of Cost Aggregation Algorithms in Stereo Vision)

  • 이용환;김영섭
    • 반도체디스플레이기술학회지
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    • 제15권1호
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    • pp.47-51
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    • 2016
  • Human visual system infers 3D vision through stereo disparity in the stereoscopic images, and stereo visioning are recently being used in consumer electronics which has resulted in much research in the application field. Basically, stereo vision system consists of four processes, which are cost computation, cost aggregation, disparity calculation, and disparity refinement. In this paper, we present and evaluate the existing various methods, focusing on cost aggregation for stereo vision system to comparatively analyze the performance of their algorithms for a given set of resources. Experiments show that Normalized Cross Correlation and Zero-Mean Normalized Cross Correlation provide higher accuracy, however they are computationally heavy for embedded system in the real time systems. Sum of Absolute Difference and Sum of Squared Difference are more suitable selection for embedded system, but they should be required on improvement to apply to the real world system.

C40 DSP 보드를 이용한 이동 물체의 깊이 정보 추출 (Extraction of depth information on moving objects using a C40 DSP board)

  • 박태수;모준혁;최익수;박종안
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.5-7
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    • 1996
  • We propose a triangulation method based on stereo vision angles. We setup stereo vision systems which extract the depth information to a moving object by detecting a moving object using difference image method and obtaining the depth information by the triangulation method based on stereo vision angles. The feature point of a moving object is used the geometrical center of the moving object, and the proposed vision system has the accuracy of 0.2mm in the range of 400mm.

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이동되는 목표물을 3차원 영상에 중심화시키는 회전 직각 스테레오 비젼 시스템 (The Spinning Right-angle Stereo Vision System to Center the Shifted Object on the 3-Dimensional Image)

  • 서춘원
    • 조명전기설비학회논문지
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    • 제29권11호
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    • pp.18-27
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    • 2015
  • In this paper, we proposed the spinning right-angle stereo vision system to center the shifted object on 3-dimensional image using a human eyesight-like, and the system is reconstructed with conventional stereo vision system. In this proposed system, the centering results of objects on the 3-dimensional image are very good, and we got the parameter ratios 89~112% for the real measurement values. Therefore, the suggested the spinning right-angle stereo vision system have a high possibilities to be applied to many industrial system parts and to be used for robot system, automatic system, and etc.

스테레오 비젼에 기반한 6축 로봇의 위치 결정에 관한 연구 (Position Control of Robot Manipulator based on stereo vision system)

  • 조환진;박광호;기창두
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2001년도 춘계학술대회 논문집
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    • pp.590-593
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    • 2001
  • In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.

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Object Recognition using Smart Tag and Stereo Vision System on Pan-Tilt Mechanism

  • Kim, Jin-Young;Im, Chang-Jun;Lee, Sang-Won;Lee, Ho-Gil
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.2379-2384
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    • 2005
  • We propose a novel method for object recognition using the smart tag system with a stereo vision on a pan-tilt mechanism. We developed a smart tag which included IRED device. The smart tag is attached onto the object. We also developed a stereo vision system which pans and tilts for the object image to be the centered on each whole image view. A Stereo vision system on the pan-tilt mechanism can map the position of IRED to the robot coordinate system by using pan-tilt angles. And then, to map the size and pose of the object for the robot to coordinate the system, we used a simple model-based vision algorithm. To increase the possibility of tag-based object recognition, we implemented our approach by using as easy and simple techniques as possible.

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동적 스테레오 카메라 모델링 (An active stereo camera modeling)

  • 도경민;이쾌희
    • 제어로봇시스템학회논문지
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    • 제3권3호
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    • pp.297-304
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    • 1997
  • In stereo vision, camera modeling is very important because the accuracy of the three dimensional locations depends considerably on it. In the existing stereo camera models, two camera planes are located in the same plane or on the optical axis. These camera models cannot be used in the active vision system where it is necessary to obtain two stereo images simultaneously. In this paper, we propose four kinds of stereo camera models for active stereo vision system where focal lengths of the two cameras are different and each camera is able to rotate independently. A single closed form solution is obtained for all models. The influence of the stereo camera model to the field of view, occlusion, and search area used for matching is shown in this paper. And errors due to inaccurate focal length are analyzed and simulation results are shown. It is expected that the three dimensional locations of objects are determined in real time by applying proposed stereo camera models to the active stereo vision system, such as a mobile robot.

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