• 제어로봇시스템학회논문지
• /
• 제7권12호
• /
• pp.1001-1008
• /
• 2001

This paper presents a new camera calibration algorithm for ill-conditioned cases in which the camera plane is nearly parallel to a set of non-coplanar calibration boards. for the ill-conditioned case, most of existing calibration approaches such as Tsais radial-alignment-constraint method cannot be applied. Recently, for the ill-conditioned coplanar calibration Lee&Lee[16] proposed an iterative algorithm based on the least square method. The non-coplanar calibration algorithm presented in this paper is an iterative two-stage procedure with extends the previous coplanar calibration algorithm. Through the first stage, camera, position and orientation parameters as well as one radial distortion factor are determined optimally for a given data of the scale factor and the focal length. In the second stage, the scale factor and the focal length are locally optimized. This process is repeated until any improvement cannot be expected any more Computational results are provided to show the performance of the algorithm developed.

• 제어로봇시스템학회논문지
• /
• 제21권7호
• /
• pp.602-608
• /
• 2015

This paper proposes an algorithm for precise detection of corner points on a coplanar checkerboard in order to perform stereo camera calibration using a single frame. Considering the conditions of automobile production lines where a stereo camera is attached to the windshield of a vehicle, this research focuses on a coplanar calibration methodology. To obtain the accurate values of the stereo camera parameters using the calibration methodology, precise localization of a large number of feature points on a calibration target image should be ensured. To realize this demand, the idea with respect to a checkerboard pattern design and the use of a Homography matrix are provided. The calibration result obtained by the proposed method is also verified by comparing the depth information from stereo matching and a laser scanner.

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.803-811
• /
• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.246-249
• /
• 2003

The constraints necessary guarantee using the comparison of these extrinsic parameters, which each Rotation matrix and Translation Vector must be equal to the either, except the X-axis Translation Vector. Thus, we can not yet calculate the 3D-range measurement in the end of camera calibration. To minimize this disadvantage, the Epipolar Rectification has been proposed in the literature. This paper aims to present the development of Epipolar Rectification to calibrate Stereo cameras. The required computation of the transformation mapping between points in 3D-space is based on calculating the image point that appears on new image plane by using calibrated parameters. This computation is assumed from the rotating the old ones around their optical center until focal planes becomes coplanar, thereby containing the baseline, and the Z-axis of both camera coordinate to be parallel together. The optical center positions of the new extrinsic parameters are the same as the old camera, whereas the new orientation differs from the old ones by the suitable rotations. The intrinsic parameters are the same for both cameras. So that, after completed calibration process, immediately can calculate the 3D-range measurement. And the rectification determines a transformation of each image plane such that pairs of conjugate Epipolar lines become collinear and parallel to one of the image axis. From the experimental results verify the proposed technique are agreed with the expected specifications.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2014년도 춘계학술발표대회
• /
• pp.904-907
• /
• 2014

In this work we present a robust and fast approach to estimate 3D vehicle pose that can provide results under a specific traffic surveillance conditions. Such limitations are expressed by single fixed CCTV camera that is located relatively high above the ground, its pitch axes is parallel to the reference plane and the camera focus assumed to be known. The benefit of our framework that it does not require prior training, camera calibration and does not heavily rely on 3D model shape as most common technics do. Also it deals with a bad shape condition of the objects as we focused on low resolution surveillance scenes. Pose estimation task is presented as PnP problem to solve it we use well known "POSIT" algorithm [1]. In order to use this algorithm at least 4 non coplanar point's correspondence is required. To find such we propose a set of techniques based on model and scene geometry. Our framework can be applied in real time video sequence. Results for estimated vehicle pose are shown in real image scene.

• 한국전자파학회논문지
• /
• 제21권2호
• /
• pp.99-109
• /
• 2010

기판 집적 도파관(substrate integrated waveguide)은 높은 Q와 타 소자와 집적 가능성 때문에 최근 연구가 활발하다. 그러나 이의 특성은 기존 도파관 달리 해석적인 형태로 특성화되지 않아, 과거의 여파기 설계 방법으로는 정확한 설계를 하기가 어렵다. 본 논문에서는 최근 제시된 EM(Electro-Magnetic) 시뮬레이션을 기반으로 한 대역통과 여파기 설계 방법으로 10 GHz에서 10%의 대역폭을 갖는 3단 기판 집적 도파관 대역 통과 여파기를 3D EM simulator HFSS를 이용하여 설계하였다. 이 때 기판 집적 도파관은 마이크로스트립과 천이(transition)를 필요로 하는데, 여기서 기존 제안된 CPW(Coplanar Waveguide)대 SIW 천이 구조를 변형하여 적용하였다. 제안된 천이 구조는 천이 길이가 짧고 상용의 test fixture를 사용하여 TRL 측정이 가능하게 되어 있다. 제안된 2가지 천이 구조에 대하여 여파기를 제작하였으며, 제작된 여파기는 예상한대로 중심 주파수 10 GHz에서 10%의 대역폭약 12 dB 반사 손실, 0.8 dB 삽입 손실의 특성을 보였다.