• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.31 no.4
• /
• pp.207-213
• /
• 2018

This paper investigates applicability of Microsoft $Kinect^{(R)}$, RGB-depth camera, to implement a 3D image and spatial information for sensing a target. The relationship between the image of the Kinect camera and the pixel coordinate system is formulated. The calibration of the camera provides the depth and RGB information of the target. The intrinsic parameters are calculated through a checker board experiment and focal length, principal point, and distortion coefficient are obtained. The extrinsic parameters regarding the relationship between the two Kinect cameras consist of rotational matrix and translational vector. The spatial images of 2D projection space are converted to a 3D images, resulting on spatial information on the basis of the depth and RGB information. The measurement is verified through comparison with the length and location of the 2D images of the target structure.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.4
• /
• pp.679-686
• /
• 2022

In this paper, we implemented an algae removal device that recognizes and removes algae existing in water using Raspberry Pi camera and DO (Dissolved Oxygen) sensor. The Raspberry Pi board recognizes the color of green algae by converting the RGB values obtained from the camera into HSV. Through this, the location of the algae is identified and when the amount of dissolved oxygen's decrease at the location is more than the reference value using the DO sensor, the algae removal device is driven to spray the algae removal solution. Raspberry Pi's camera uses OpenCV, and the motor movement is controlled according to the output value of the DO sensor and the result of the camera's green algae recognition. Algae recognition and spraying of algae removal solution were implemented through Arduino and Raspberry Pi, and the feasibility of the proposed portable algae removal device was verified through experiments.

• Spatial Information Research
• /
• v.6 no.1
• /
• pp.1-10
• /
• 1998

The need of aerial photographs is increasing for small area development such as facility management, site planning, residence planning, and so on. It is not an easy task, however, to take aerial photographs using an aircraft for metric photogrammetry because of the strict regulatins of flying and also photographing in Korea, as well as the cost. As one of efficient methods to take large-scale aerial photographs, we investigated the ways of photographing by a remote controlled model plane(RC plane) with a light weight non-metric camera on board. We had examined the principles of RC planes and assembled a RC plane, And test photographing was performed. Even though we obtained reasonably good stereo-pairs for the grounds and facilities using the RC plane, we found there were yet many problems to be solved, such as difficulties of RC plane control, camera focusing, and accumulation of dust on the camera lens.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.788-793
• /
• 2015

This paper proposes a path planning algorithm to reduce the inspection time of AOI (Automatic Optical Inspection) machines for SMT (Surface Mount Technology) in-line system. Since the field-of-view of the camera attached at the machine is much less than the entire inspection region of board, the inspection region should be clustered to many groups. The image acquisition time depends on the number of groups, and camera moving time depends on the sequence of visiting the groups. The acquired image is processed while the camera moves to the next position, but it may be delayed if the group includes many components to be inspected. The inspection delay has influence on the overall job time of the machine. In this paper, we newly considers the inspection delay time for path planning of the inspection machine. The unified approach using genetic algorithm is applied to generates the groups and visiting sequence simultaneously. The chromosome, crossover operator, and mutation operator is proposed to develop the genetic algorithm. The experimental results are presented to verify the usefulness of the proposed method.

• Journal of Korea Technical Association of The Pulp and Paper Industry
• /
• v.40 no.2
• /
• pp.37-42
• /
• 2008

Defects of corrugated board were limiting factors to the corrugated industry's growth. On-line detecting systems of defects are beneficial to increase profits of the corrugated board companies by reducing base paper consumption, increasing process reliability, and increasing productivity. By replacing naked eye inspection of defects to a defects detecting system, continuous inspection without fatigue may guarantee final products quality. The system was developed, which was consisted of line scan CCD camera, lens, illuminating parts, high speed image processor, software, various input parts, and output parts. First installation location of the system was at before fluting process after base paper unwinding, and surface of liner board was inspected by the system. Second installation location was after fluting process and combining process for liner board. Production loss includes ragged appearance of edge, irregular flute shape, wrong combination of flute, score cracking, defects in base paper, and flute cracking. The production loss was analyzed before and after the system installation at a commercial domestic mill. The production loss ratio was defined as a production loss weight per total production weight. The production loss ratio before the installation was decreased a lot from 1.28%(during 3 months before installation) to 0.76%(during 12 months after the first installation) and to 0.25%(during 6 months after the second installation).

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.642-645
• /
• 1991

This paper presents the results of research on hardware and software of the landmark tracking system to the positions of moving robot in real time. The landmark tracking system is composed of CCD camera, landmark, strobo system and image processing board. The algorithm calculates the position and direction by using the coordinate transformation fomula after calculating the centroid and rotation angle of landmark at fixed position using the image data. The experiment is performed with landmark tracking system is loaded on xyz-table. XYZ-table is used for identifying the true position in our experiment. The results shows that this system has high performance with maxima error of .+-.1 pixels.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.18 no.3
• /
• pp.235-242
• /
• 1985

The mechanics of the walking shrimps is useful to clarify the fishing mechanisms in relation to the fishing gears. The gaiting behaviour concerning step positions and step timings on the flat board and the nettings, 16, 23 and 37mm in mesh size were experimented in the aquarium using video camera from June to October, 1984. It was found that the irregular movements of walking legs in step positions and step patterns were appeared on the nettings more than the flat surface due to the absence of mechanical contact with the substrates. The mean stride length and coefficient of variation of the periods in the walking shrimps on the flat board were significantly different from those values on the nettings, However, the velocity, the period and the ratio of forestroke to backstroke were unsteadily changed with the carapace length, and showed little difference under the four conditions. The mean phase difference on the flat board was greater than those values on the nettings which were decreased, while standard deviation on the flat board was smaller than those values on the nettings which were increased with increasing in mesh size.

• Journal of Information Technology Applications and Management
• /
• v.11 no.4
• /
• pp.169-179
• /
• 2004

There are many inductive loop detectors under the highways in Korea. Among the other detectors, some are image detectors. Almost all image detectors are focused one or two lane of the road and are measuring traffic information. This paper proposes to an algorithm for detecting traffic information automatically from CCTV camera images installed on the highway. The information which is counted in one lane or two contains some critical errors by occlusion frequently in case of passing larger vehicles. In this paper, we use a tracking algorithm in which the detection area include all lanes, then the traffic informations are collected from the vehicles individually using difference images in this detection area. This tracking algorithm is better than lane by lane detecting algorithm. The experiment have been conducted two different real road scenes for 20 minutes. For the experiments, the images are provided with CCTV camera which was installed at Kiheung Interchange upstream of Kyongbu highway, and video recording images at Chungkye Tunnel. For image processing, images captured by frame-grabber board 30 frames per second, 640${\times}$480 pixels resolution and 256 gray-levels to reduce the total amount of data to be Interpreted.

• Proceedings of the KSRS Conference
• /
• 2005.10a
• /
• pp.604-607
• /
• 2005

All CCD pixels do not react uniformly even if the light of same radiance enters into the camera. This comes from the different camera optical characteristics, the read-out characteristics, the pixel own characteristics and so on. Usually, the image data of satellite camera can be corrected by the various image-processing methods in the ground. However, sometimes, the in-orbit correction is needed to get the higher quality image. Especially high frequency pixel correction in the middle of in-orbit mission is needed because the in-orbit data compression with the high frequency loss is essential to transmit many data in real time due to the limited RF bandwidth. In this case, this high frequency correction can prevent have to have any unnecessary high frequency loss. This in-orbit correction can be done by the specific correction table, which consists of the gain and the offset correction value for each pixel. So, it is very important to get more accurate correction table for good correction results. This paper shows the new algorithm to get accurate pixel correction table. This algorithm shall be verified theoretically and also verified with the various simulation and the test results.

• Journal of Welding and Joining
• /
• v.19 no.2
• /
• pp.208-214
• /
• 2001

In this study, we constructed a visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame p개cess, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data or weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam. such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.