• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.774-781
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• 2003

The important factors that cause position error in X-Y robot are inertial force, frictions and spring distortion in screw or coupling. We have to estimate these factors precisely to correct position errors, Which is very difficult. In this paper, we makes systems to inspect metal stencil which is used to print solder paste on pads of SMD of PCB with low precision X-Y robot and vision system. To correct position error that is caused by low precision X-Y robot, we defines position error vector that is formed with position of objects that exist in reference and camera image. We apply MHT(Modified Hough Transformation) for the aim of determining the dominant position error vector. We modify reference image using extracted dominant position error vector and obtain reference image that is the same with camera image. Effectiveness and performance of this method are verified by simulation and experiment.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.413-416
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• 2007

카메라 캘리브레이션은 비젼(vision) 시스템의 광학왜곡을 보정하기 위해, 영상 좌표계와 실세계 좌표계간의 변환관계를 정의해 주는 mapping을 구하는 과정으로 카메라를 이용한 측정, 검사, 위치보정 등의 응용에서 매우 중요하다. 카메라 캘리브레이션 방법으로 많이 사용되는 Tsai 알고리즘은 여러 카메라 내부 상수들을 필요로 하며, 적절한 활용을 위해서는 이에 대한 이해와 카메라와 렌즈왜곡의 모델에 대한 사전지식을 요한다. 본 논문에서는 카메라나 렌즈왜곡에 대한 모델이나 가정없이, 영상좌표와 실세계 좌표간의 변환을 고차(higher order) polynomial을 이용하여 구현하여 사용이 손쉬운 카메라 캘리브레이션 방법을 소개하고 성능을 평가하였다. 성능 평가 결과, 3차 polynomial을 이용한 카메라 캘리브레이션 방법이 Tsai알고리즘보다 정밀도에서 우수하였다.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.489-492
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• 2005

As a former level of MSC(Multi Spectral Camera) telescope of the KOMPSA T2satellite, the several performance tests of EOS(Electro Optical Subsystem) were performed in the EOS level. By these tests, not only the design requirement of payload can be verified but also the test result can be the important criterion to estimate the performance of payload in the launch and space orbit environment. The EOS Geometric Mapping test is to verify the accuracy of the alignment & assembly on the Subsystem of the MSC by measurement like these; LOS(Line of Sight), LOD(Line of Detector), Band to Band Registration, Optical Distortion and Reference Cube. This paper describes the test results and the analysis for the EOS Geometric Mapping.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.4
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• pp.504-510
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• 2003

Simultaneous measurements of turbulent velocity and concentration field in a stirred mixer tank are carried out by using PIV/LIF technique. Instantaneous velocity fields are measured with a 1K$\times$1K CCD camera adopting the frame straddle method while the concentration fields are obtained by measuring the fluorescence intensity of Rhodamine B tracer excited by the second pulse of Nd:Yag laser light. Image distortion due to the camera view-angle is compensated by a mapping function. It is found that the general features of the mixing pattern are quite dependent on the local flow characteristics during the rapid decay of mean concentration. However, the small scale mixing seems to be independent on the local turbulent velocity fluctuation.

• Proceedings of the Korean Society of Laser Processing Conference
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• 2005.06a
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• pp.3-8
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• 2005

The robot systems are widely used in the welding manufacturing. The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact of the system which monitors the shape of the welding part is described. This system uses the line-type structured laser diode and the visual sensor. It includes the correction of radial distortion which is often found in the image from the camera with short focal length. Direct Linear Transformation (DLT) is used for the camera calibration. The three dimensional shape of the parent metal is obtained after simple linear transformation. Therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.99-105
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• 2008

To achieve autonomous mobile robot navigation, accurate localization technique is the fundamental issue that should be addressed. In augmented reality, the position of a user is required for location-based services. This paper presents indoor localization using infrared reflective artificial landmarks. In order to minimize the disturbance to the user and to provide the ease of installation, the passive landmarks are used. The landmarks are made of coated film which reflects the infrared light efficiently. Infrared light is not visible, but the camera can capture the reflected infrared light. Once the artificial landmark is identified, the camera's relative position/orientation is estimated with respect to the landmark. In order to reduce the number of the required artificial landmarks for a given environment, the pan/tilt mechanism is developed together with the distortion correction algorithm.

• Journal of the Optical Society of Korea
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• v.18 no.5
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• pp.517-522
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• 2014

In this paper we propose an axially distributed image-sensing method with a wide-angle lens to capture the wide-area scene of 3D objects. A lot of parallax information can be collected by translating the wide-angle camera along the optical axis. The recorded wide-area elemental images are calibrated using compensation of radial distortion. With these images we generate volumetric slice images using a computational reconstruction algorithm based on ray back-projection. To show the feasibility of the proposed method, we performed optical experiments for visualization of a partially occluded 3D object.

• 한국가시화정보학회:학술대회논문집
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• 2002.11a
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• pp.101-104
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• 2002

Simultaneous measurement of turbulent velocity and concentration field in a stirred mixer tank is carried out by using PIV/LIF technique. Instantaneous velocity fields are measured by a $1K\times1K$ CCD camera adopting the frame straddle method while the concentration fields are obtained by measuring the fluorescence intensity of Rhodamine B tracer excited by the second pulse of Nd:Yag laser light. Image distortion due to the camera view-angle is compensated by a mapping function. It is found that the general features of the mixing pattern are quite dependent on the local flow characteristics during the rapid decay of mean concentration. However, the small scale mixing seems to be independent on the local turbulent velocity fluctuation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.5
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• pp.2414-2433
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• 2019

The aim of this paper is to design a 3D laser radar prototype based on laser triangulation. The mathematical model of distance sensitivity is deduced; a pixel-distance conversion formula is discussed and used to complete 3D scanning. The center position extraction algorithm of the spot is proposed, and the error of the linear laser, camera distortion and installation are corrected by using the proposed weighted average algorithm. Finally, the three-dimensional analytic computational algorithm is given to transform the measured distance into point cloud data. The experimental results show that this 3D laser radar can accomplish the 3D object scanning and the environment 3D reconstruction task. In addition, the experiment result proves that the product of the camera focal length and the baseline length is the key factor to influence measurement accuracy.

• Current Optics and Photonics
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• v.3 no.4
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• pp.329-335
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• 2019

Wide FOV imaging systems are important for acquiring rich visual information. A conventional catadioptric imaging system deploys a camera in front of a curved mirror to acquire a wide FOV image. This is a cumbersome setup and causes unnecessary occlusions in the acquired image. In order to reduce both the burden of the camera deployment and the occlusions in the images, this study uses a secondary planar mirror in the catadioptric imaging system. A compact design of the catadioptric imaging system and a condition for the position of the secondary planar mirror to satisfy the central imaging are presented. The image acquisition model of the catadioptric imaging system with a secondary planar mirror is discussed based on the principles of geometric optics in this study. As a backward mapping, the acquired image is restored to a distortion-free image in the experiments.