• 한국컴퓨터정보학회논문지
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• 제14권6호
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• pp.41-49
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• 2009

본 논문에서는 광학식 모션캡처 장비를 위한 다중 카메라 보정 방법을 제안한다. 이 방법은 DLT(Direct linear transformation) 알고리즘을 이용하여 7개의 마커가 있는 3축 보정틀의 영상을 획득하여 1차 카메라 보정을 한다. 그리고 2개의 마커가 있는 보정봉을 측정하고자 하는 영역에서 움직여서 2차 카메라 보정을 실시한다. 1차 카메라 보정에서는 카메라 보정뿐만 아니라 렌즈 왜곡 계수를 계산하여 2차 카메라 보정에서의 최적화를 위한 초기해로 사용한다. 2차 카메라 보정에서는 보정봉에 있는 마커사이의 거리가 일정하기 때문에 계산된 마커 거리와 실제 마커 거리의 차가 최소화 되도록 최적화를 수행한다. 제안한 방법에 의한 다중 카메라 보정 방법을 검증하기 위하여 재투영에러를 계산하였고 3축 보정틀에 있는 마커사이의 거리와 보정봉에 있는 마커사이의 거리를 계산하여 다른 상용장비의 값과 비교하였다. 3축 보정틀에 있는 마커를 복원하여 에러를 비교한 결과 평균오차가 상용장비의 1.7042mm에 비해 0.8765mm로 51.4% 수준으로 나타났고, 보정봉에 있는 마커를 복원하여 에러를 비교한 결과 상용장비의 평균에러 1.8897mm에 비해 2.0183mm로 0.1286mm 크게 나타났다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.182-185
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• 2005

Satellite cameras are calibrated before launch in detail and in general, but it cannot be guaranteed that the geometry is not changing during launch and caused by thermal influence of the sun in the orbit. Modem satellite imaging systems are based on CCD-line sensors. Because of the required high sampling rate the length of used CCD-lines is limited. For reaching a sufficient swath width, some CCD-lines are combined to a longer virtual CCD-line. The images generated by the individual CCD-lines do overlap slightly and so they can be shifted in x- and y-direction in relation to a chosen reference image just based on tie points. For the alignment and difference in scale, control points are required. The resulting virtual image has only negligible errors in areas with very large difference in height caused by the difference in the location of the projection centers. Color images can be related to the joint panchromatic scenes just based on tie points. Pan-sharpened images may show only small color shifts in very mountainous areas and for moving objects. The direct sensor orientation has to be calibrated based on control points. Discrepancies in horizontal shift can only be separated from attitude discrepancies with a good three-dimensional control point distribution. For such a calibration a program based on geometric reconstruction of the sensor orientation is required. The approximations by 3D-affine transformation or direct linear transformation (DL n cannot be used. These methods do have also disadvantages for standard sensor orientation. The image orientation by geometric reconstruction can be improved by self calibration with additional parameters for the analysis and compensation of remaining systematic effects for example caused by a not linear CCD-line. The determined sensor geometry can be used for the generation? of rational polynomial coefficients, describing the sensor geometry by relations of polynomials of the ground coordinates X, Y and Z.

• 로봇학회논문지
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• 제2권1호
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• 한국광학회지
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• 제29권2호
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• pp.70-76
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• 2018

$0^{\circ}C$ 이하 적외선 복사온도계의 복사온도눈금 교정을 위해 기준 복사온도계 TRT2 (Transfer Radiation Thermometer 2, HEITRONICS)와 온도가변 흑체 ME30 (Model: ME30, HEITRONICS)을 사용하여 비교 교정장치를 구축하였다. 3개의 고정점(Ice ($0.01^{\circ}C$), In ($156.5985^{\circ}C$), Sn ($231.928^{\circ}C$))과 플랑크형 사쿠마-하토리식을 사용하고, $-50^{\circ}C$에서 TRT2의 내외삽 오차를 불확도에 포함시켜 TRT2의 복사온도 눈금을 교정하였다. ME30 흑체 개구에 공압으로 동작되는 뚜껑을 설치한 후 30초 동안만 뚜껑을 열고 복사온도를 측정함으로써 ME30 내에서 생기는 성에를 방지할 수 있었으며 비교 교정에 소요되는 시간도 반으로 줄일 수 있었다. $0{\sim}232^{\circ}C$ 영역 밖으로 벗어날수록 비교 교정장치의 불확도는 증가하며 $-20^{\circ}C$에서 확장 불확도는 0.26 K였다.

• 대한전자공학회논문지SD
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• 제48권4호
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• pp.14-23
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• 2011

본 논문에서는 자체보정 벡터 발생기(Self-Calibrated Vector Generator)를 이용한 7-bit 2GSPS folding/interpolation A/D Converter (ADC)를 제안한다. 제안하는 ADC는 2GSPS 의 고속 변환에 적합한 상위 2-bit, 하위 5-bit 인 분할구조로 설계 되었으며, 각각의 folding/interpolation rate는 4와 8로 설정되었다. 최대 1GHz의 높은 입력신호를 처리하기 위해 cascade 구조의 preprocessing block을 적용하였으며, 전압 구동 방식 interpolation 기법을 적용하여 기준전압 생성 시 발생하는 추가적인 전력소모를 최소화하였다. 또한, 새로운 개념의 자체보정 벡터 발생기를 이용하여 device mismatch, 기생 저항 및 커패시턴스 등에 의한 offset error를 최소화하였다. 제안하는 ADC는 1.2V 0.13um 1-poly 7-metal CMOS 공정을 사용하여 설계 되었으며 calibration 회로를 포함한 유효 칩 면적은 2.5$mm^2$ 이다. 측정 결과 입력 주파수 9MHz, sampling 주파수 2GHz에서 39.49dB의 SNDR 특성을 보이며, calibration 회로의 작동결과 약 3dB 정도의 SNDR의 상승을 확인하였다.

• Journal of Biosystems Engineering
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• 제17권1호
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• pp.65-78
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• 1992

When using a computer vision system for a measurement, the geometrically distorted input image usually restricts the site and size of the measuring window. A geometrically distorted image caused by the image sensing and processing hardware degrades the accuracy of the visual measurement and prohibits the arbitrary selection of the measuring scope. Therefore, an image calibration is inevitable to improve the measuring accuracy. A calibration process is usually done via four steps such as measurement, modeling, parameter estimation, and compensation. In this paper, the efficient error calibration technique of a geometrically distorted input image was developed using a neural network. After calibrating a unit pixel, the distorted image was compensated by training CMLAN(Cerebellar Model Linear Associator Network) without modeling the behavior of any system element. The input/output training pairs for the network was obtained by processing the image of the devised sampled pattern. The generalization property of the network successfully compensates the distortion errors of the untrained arbitrary pixel points on the image space. The error convergence of the trained network with respect to the network control parameters were also presented. The compensated image through the network was then post processed using a simple DDA(Digital Differential Analyzer) to avoid the pixel disconnectivity. The compensation effect was verified using known sized geometric primitives. A way to extract directly a real scaled geometric quantity of the object from the 8-directional chain coding was also devised and coded. Since the developed calibration algorithm does not require any knowledge of modeling system elements and estimating parameters, it can be applied simply to any image processing system. Furthermore, it efficiently enhances the measurement accuracy and allows the arbitrary sizing and locating of the measuring window. The applied and developed algorithms were coded as a menu driven way using MS-C language Ver. 6.0, PC VISION PLUS library functions, and VGA graphic functions.

• 한국농공학회지
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• 제33권2호
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• pp.51-60
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• 1991

The main objective of this study is to examine the adaptability for the large watershed of the storage tank model which can be applied for the analysis of both long and short terms runoff developed on the basis of hydrologic data for a smaH mountaineous watershed. The results obtained in this study are summarized as follows ; 1. Areal rainfalls of the Dae Chong watershed were calculated by Thiessen method composed of 9 Thiessen networks. 2. Optimal parameters for two types, Model A and Model B of tank models were derived through calibration procedure by standardized Powell method. 3. Monthly simulated flows of Model B are seemed to be closer to the monthly observed than those of Model A during calibration period in the long terms runoff. 4. Relative errors for the simulated flood flows of Model B were apperaed as lower percentage to the observed than those of Model A during calibration period in the short terms runoff. 5. Daily simulated hydrographs of Model B are seemed to be closer to the daily observed than those of Model A during verification period in the long terms runoff. Significance of Model B was highly acknowledged in comparison with Model A in the correlation analysis between annual observed and annual simulated runoff. 6. Reproducibility of simulated flows for Model B is generally seemed to be better than that of Model A during calibration period in the short terms runoff. 7. It can be concluded that reproducibility of Model B is superior to that of Model A in the long and short terms runoff even a large watershed like the result of the small one. 8. It was verified that adaptability for the large watershed of Model B is superior to that of Model A between the two models which were developed by a small watershed characteristics for both long and short terms runoff. 9. Further study for getting a suitable tank model is desirable to be established by the decision, calibration method of initial parameters of tank model and by additional application of another watershed with different watersheds and meterological characteristics.

• 한국전자파학회논문지
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• 제29권5호
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• pp.344-352
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• 2018

본 논문에서는 샘플링 오실로스코프의 주파수 응답특성을 측정하는 방법을 제안하였다. 제안된 방법은 샘플링 오실로스코프의 계통오차인 시간축 왜곡 현상과 임피던스 부정합에 의한 영향을 교정할 수 있다. 또한 시간축 에러를 교정한 후에 발생하는 잔여 지터와 기준 펄스 발생 조건에 따라 변하는 scale factor의 정확한 추정이 가능하다. 제안 방법의 불확도 분석을 수행하였고, 전력계와의 비교 검증을 통해 제안 방법의 타당성을 보였다.

• 한국광학회지
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• 제13권2호
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• pp.98-104
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• 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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.