• 로봇학회논문지
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• 제15권4호
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(II)
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• pp.1387-1389
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• 1987

In this paper, we describe not only extraction method of moving object by difference image but also automatic target tracking algorithm. Proposed algorithm track the moving target by the calculation of moving target's center. The results show that this algorithm can apply to practical device such as real time target tracker.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.668-670
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• 1999

We have developed a automatic surface inspection system for cold Rolled strips in steel making process for several years. We have experienced the various kinds of surface inspection systems, including linear CCD camera type and the laser type inspection system which was installed in cold rolled strips production lines. But, we did not satisfied with these inspection systems owing to insufficient detection and classification rate, real time processing performance and limited line speed of real production lines. In order to increase detection and computing power, we have used the Dark Field illumination with Infra_Red LED, Bright Field illumination with Xenon Lamp, Parallel Computing Processor with Area typed CCD camera and full software based image processing technique for the ease up_grading and maintenance. In this paper, we introduced the automatic inspection system and real time image processing technique using the Object Detection, Defect Detection, Classification algorithms. As a result of experiment, under the situation of the high speed processed line(max 1000 meter per minute) defect detection is above 90% for all occurred defects in real line, defect name classification rate is about 80% for most frequently occurred 8 defect, and defect grade classification rate is 84% for name classified defect.

• 한국전자파학회논문지
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• 제18권4호
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• pp.455-463
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• 2007

본 논문에서는 마이크로파를 이용하여 자동차, 무인 시설 및 자동문 등에서 적용 가능한 물체 탐지 장치 방안을 제안하고 있다. 마이크로파 탐지 기술이 보편화되면서, 제한된 대역폭으로 동반되는 상호 간섭 및 혼신은 필연적으로 예상된다. 본 논문에서는 간섭과 혼신 환경에서 영향을 받지 않는 가무작위(假無作爲) 코드를 사용하여 송수신 신호의 코드 상관으로 물체를 탐지한다. 도플러 주파수가 없는 고정 물체의 거리 탐침을 위한 가짜의 도플러(doppler) 신호를 생성하기 위하여 송신 신호의 위상은 지속적으로 변이된다. 또한, 수신 신호가 일정하도록 송신 신호의 전력을 제어하여, 수신기의 포화(saturation)를 제거하고 거리 측정 오차가 감소시켰다. 제안장치는 $0.5{\sim}2.0\;m$의 거리에 있는 물체를 탐지하여, 1.0 m 이내의 물체 유 무를 음성으로 알려준다.

• 한국측량학회지
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• 제30권1호
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• pp.59-65
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• 2012

본 연구에서는 축척과 갱신 주기가 상이한 공간 데이터 셋에서 기하정보를 이용한 형상유사도 기반 면 객체 매칭을 통하여 갱신 객체를 탐지하는 방법을 제안하였다. 이를 위하여, 먼저 축척이 상이한 공간 데이터 셋의 매칭 관계를 분석하여 갱신 객체를 정의하였다. 다음으로 시멘틱 매칭을 통하여 추출된 기준점을 이용한 아핀변환을 수행하여 축척이 상이한 데이터간의 계통오차를 제거하고, 중첩 분석을 통하여 다수 면 객체를 단일 객체화 하였다. 각각의 단일 객체를 대상으로 형상유사도 기반의 면 객체 매칭을 적용하여 갱신 객체를 탐지하게 된다. 제안된 갱신 객체 탐지 방법을 우리나라의 수치지도 2.0과 도로명주소 전자지도에 적용한 결과 F-측정값이 0.958로 나타났으며, 시각적 평가에서 유의미한 갱신 객체가 탐지되는 것을 알 수 있었다.

• 한국정보통신학회논문지
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• 제26권3호
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• pp.389-395
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• 2022

심층 학습 기술의 발전으로 인해 분류, 객체 검출, 분할과 같은 시각 정보를 이용한 심층 학습이 다양한 분야에서 활용되고 있다. 그 중 자율 주행은 시각 데이터를 잘 활용하는 대표적인 분야 중 하나이다. 본 논문에서는 도로 위의 사람과 운송수단 객체에 대한 개별적인 깊이 값을 예측하는 망을 제안한다. 제안하는 모델은 YOLOv3와 Monodepth를 기반으로 하며, 하드 파라미터 쉐어링을 이용한 인코더와 디코더를 통해 객체 검출과 깊이 추정을 동시에 수행한다. 또한 주의 집중 기법을 사용하여 객체 검출 및 깊이 추정의 정확도를 높이고자 하였다. 깊이 추정은 단안 이미지를 통해 이루어지며, 자가 학습 방법을 통해 학습을 수행하였다.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.136-144
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• 2022

Construction sites are characterized by dangerous situations and environments that cause fatal accidents. Potential risk detection needs to be improved by continuously monitoring site conditions. However, the current labor-intensive inspection practice has many limitations in monitoring dangerous conditions at construction sites. Computer vision technology that can quickly analyze and collect site conditions from images has been in the spotlight as a solution. Nonetheless, inspection results obtained via computer vision are still stored and managed in centralized systems vulnerable to tampering with information by the central node. Blockchain has been used as a reliable and efficient decentralized information management system. Despite its potential, only limited research has been conducted integrating computer vision and blockchain. Therefore, to solve the current safety management problems, the authors propose a framework for construction site inspection that integrates object detection and blockchain network, enabling efficient and reliable remote inspection. Object detection is applied to enable the automatic analysis of site safety conditions. As a result, the workload of safety managers can be reduced with inspection results stored and distributed reliably through the blockchain network. In addition, errors or forgery in the inspection process can be automatically prevented and verified through a smart contract. As site safety conditions are reliably shared with project participants, project participants can remotely inspect site conditions and make safety-related decisions in trust.

• 한국생산제조학회지
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• 제20권5호
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• pp.666-672
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• 2011

In this paper, we describes the development of automatic inspection system for detecting the defects on photovoltaic wafer by using machine vision. Until now, The defect inspection process was manually performed by operators. So these processes caused the produce of poorly-made articles and inaccuracy results. To improve the inspection accuracy, the inspection system is not only configured, but the image processing algorithm is also developed. The inspection system includes dimensional verification and pattern matching which compares a 2-D image of an object to a pattern image the method proves to be computationally efficient and accurate for real time application and we confirmed the applicability of the proposed method though the experience in a complex environment.

• ETRI Journal
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• 제28권2호
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• pp.162-174
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• 2006

Several photogrammetric and geographic information system applications such as surface matching, object recognition, city modeling, environmental monitoring, and change detection deal with multiple versions of the same surface that have been derived from different sources and/or at different times. Surface registration is a necessary procedure prior to the manipulation of these 3D datasets. This need is also applicable in the field of medical imaging, where imaging modalities such as magnetic resonance imaging (MRI) can provide temporal 3D imagery for monitoring disease progression. This paper will present a general automated surface registration procedure that can establish correspondences between conjugate surface elements. Experimental results using light detection and ranging (LIDAR) and MRI data will verify the feasibility, robustness, and accuracy of this approach.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권3호
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• pp.180-185
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• 2015

Digital infrared thermal imaging is a non-invasive adjunctive diagnostic technique that allows an examiner to visualize and quantify changes in skin surface temperature. The asymmetry of temperature differences between the diseased and the contralateral healthy body parts can be automatically analyzed and has been studied in many areas of medical science. In this paper, we propose a method for intelligent automatic asymmetry detection based on a K-means analysis and a YCbCr color model. The implemented software successfully visualizes an asymmetric distribution of colors with respect to the patients’ health status.