• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.11
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• pp.1384-1390
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• 2019

This paper proposes a technological solution for improving the recognition direction of target objects for automatic vision inspection by machine vision. This paper proposes a technological solution for improving the recognition direction of target objects for automatic vision inspection by machine vision. This enables the automatic machine vision inspection to detect the image of the inspection object regardless of the position and orientation of the object, eliminating the need for a separate inspection jig and improving the automation level of the inspection process. This study develops the technology and method that can be applied to the wire harness manufacturing process as the inspection object and present the result of real system. The results of the system implementation was evaluated by the accredited institution. This includes successful measurement in the accuracy, detection recognition, reproducibility and positioning success rate, and achievement the goal in ten kinds of color discrimination ability, inspection time within one second and four automatic mode setting, etc.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2505-2508
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• 2003

In this paper, we propose the method to control the position of LDM(Linear DC Motor) using vision system. The proposed method is composed of a vision system for position detecting, and main computer calculates PID control output which is deliver to 80il actuator circuit in serial communication. To confirm the usefulness of the proposed method, we experimented about position control of a small size LDM using CCD camera which has a performance 30frames/sec as vision system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.973-979
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• 2007

A laser vision system is developed to measure the three-dimensional feature of an object. This system consists of two low cost cameras and a cross laser. One camera and a cross laser are used to measure a plane equation of an object. Using this information, the other camera measures a hole size of an object. The proposed system provides 0.05 mm accuracy measurement systems with relatively low cost.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.5-41
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• 2002

This paper presents a feature extraction algorithm for vision-based micromanipulation. In order to guarantee of the accurate micromanipulation, most of micromanipulation systems use vision sensor. Vision data from an optical microscope or high magnification lens have vast information, however, characteristics of micro image such as emphasized contour, texture, and noise are make it difficult to apply macro image processing algorithms to micro image. Grasping points extraction is very important task in micromanipulation because inaccurate grasping points can cause breakdown of micro gripper or miss of micro objects. To solve those problems and extract grasping points for micromanipulation...

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1846-1856
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• 2016

This study proposes a novel feature point initialization method in order to improve the accuracy of feature point positions by fusing a vision sensor and a lidar. The initialization is a process that determines three dimensional positions of feature points through two dimensional image data, which has a direct influence on performance of a 6-DoF bearing-only SLAM. Prior to the initialization, an extrinsic calibration method which estimates rotational and translational relationships between a vision sensor and lidar using multiple calibration tools was employed, then the feature point initialization method based on the estimated extrinsic calibration parameters was presented. In this process, in order to improve performance of the accuracy of the initialized feature points, an iterative automatic scaling parameter tuning technique was presented. The validity of the proposed feature point initialization method was verified in a 6-DoF bearing-only SLAM framework through an indoor and outdoor tests that compare estimation performance with the previous initialization method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.3
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• pp.545-550
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• 2011

This paper introduces an Integrated Vision System that enables us to detect the image of slabs and coils and get the complete three dimensional location data without any other obstacles in the field of unmanned-crane automation system. Existing vision system research tends to be easily influenced by the environment of the work place and therefore cannot give the exact location information. To overcome these weaknesses, this paper suggests laser scanners should be combined with a CCD camera named Integrated Vision System. The suggested system is expected to help improve the unmanned-crane automation system.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06c
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• pp.442-446
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• 2010

본 논문에서는 거리변환 기반의 정밀한 fiducial 마크 정렬 알고리즘을 제안한다. 거리변환은 물체의 중심에 가중치를 가지는 특성이 있는데 이는 AOI 공정에서 에칭, 이동과 같은 다양한 요소들로부터 획득되는 타겟영상에 대하여 강인하게 물체의 중심으로 매칭할 수 있도록 한다. 제안한 방법은 우선 입력 타겟영상에 대하여 이진화를 진행하고, 다음 모델과 타겟영상에 대하여 거리변환을 이용하여 거리특징을 추출하고, 추출된 모델과 타겟영상에 대한 거리특징을 NCC(Normalized Cross Correlation)를 이용하여 매칭한 후, 매칭 스코어에 대하여 Sub-pixel 분석을 진행하여 sub-pixel 레벨의 정확도를 가지도록 한다. 실험결과로부터 제안한 거리특징을 이용한 매칭 알고리즘이 기존의 픽셀 밝기 값을 이용한 매칭보다 강인하고 정확하게 매칭됨을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.68-73
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• 2005

Various techniques have been proposed for detection and tracking of targets in order to develop a real-world computer vision system, e.g., visual surveillance systems, intelligent transport systems (ITSs), and so forth. Especially, the idea of distributed vision system is required to realize these techniques in a wide-spread area. In this paper, we develop a ubiquitous vision system for location-awareness of multiple targets. Here, each vision sensor that the system is composed of can perform exact segmentation for a target by color and motion information, and visual tracking for multiple targets in real-time. We construct the ubiquitous vision system as the multiagent system by regarding each vision sensor as the agent (the vision agent). Therefore, we solve matching problem for the identity of a target as handover by protocol-based approach. We propose the identified contract net (ICN) protocol for the approach. The ICN protocol not only is independent of the number of vision agents but also doesn't need calibration between vision agents. Therefore, the ICN protocol raises speed, scalability, and modularity of the system. We adapt the ICN protocol in our ubiquitous vision system that we construct in order to make an experiment. Our ubiquitous vision system shows us reliable results and the ICN protocol is successfully operated through several experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.777-780
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• 2003

We have tried to create a vision system like human eye for a long time. We have obtained some distinguished results through many studies. Stereo vision is the most similar to human eye among those. This is the process of recreating 3-D spatial information from a pair of 2-D images. In this paper, we have designed a stereo matching algorithm based on systolic array architecture using edges and pixel data. This is more advanced vision system that improves some problems of previous stereo vision systems. This decreases noise and improves matching rate using edges and pixel data and also improves processing speed using high integration one chip FPGA and compact modules. We can apply this to robot vision and automatic control vehicles and artificial satellites.