• 조명전기설비학회논문지
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• 제30권1호
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• pp.14-20
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• 2016

The accurate analysis of the outside sky conditions is necessary to increase the efficiency of blind PV system. To conduct the accurate analysis, this paper suggested a method to analyze the sky condition using a specific image processing technique. While a fisheye lens has a wide field-of-views, it causes a large distortion to the sky images. Therefore, this paper calculated the exchange ratio of sky images to consider a lens distortion. As results of the study, there was a difference of 7% to cloud area ratio F4 and F11. Also, it had a different result depending on the position of the cloud.

• 전기학회논문지
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• 제65권7호
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• pp.1283-1289
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• 2016

In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2022년도 춘계학술대회
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• pp.672-673
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• 2022

본 논문에서는 TOF 센서와 동일한 View로 고정되고 차량의 진행 방향으로 수평 설치 가능한 카메라에 대하여 논한다. 이 카메라는 객체 인식 정확도 향상을 위해 1,280×720 해상도 적용하고 30fps로 영상을 출력하며 180°이상의 광각 어안렌즈를 적용 가능하다.

• 한국광학회:학술대회논문집
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• 한국광학회 2008년도 동계학술발표회 논문집
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• pp.133-134
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• 2008

• 대기
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• 제27권4호
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• pp.483-498
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• 2017

Sky view factor can quantify the influence of complex obstructions. This study aims to evaluate the best available SVF method that represents an urban thermal condition with land cover in complex city of Korea and also to quantify a correlation between SVF and mean air temperature; the results are as follows. First, three SVF methods comparison result shows that urban thermal study should consider forest canopy induced effects because the forest canopy test (on/off) on SVF reveals significant difference range (0.8, between maximum value and minimum value) in comparison with the range (0.1~0.3) of SVFs (Fisheye, SOLWEIG and 3DPC) difference. The significance is bigger as a forest cover proportion become larger. Second, R-square between SVF methods and urban local mean air temperature seems more reliable at night than a day. And as the value of SVF increased, it showed a positive slope in summer day and a negative slope in winter night. In the SVF calculation method, Fisheye SVF, which is the observed value, is close to the 3DPC SVF, but the grid-based SWG SVF is higher in correlation with the temperature. However, both urban climate monitoring and model/analysis study need more development because of the different between SVF and mean air temperature correlation results in the summer night period, which imply other major factors such as cooling air by the forest canopy, warming air by anthropogenic heat emitted from fuel oil combustion and so forth.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• 한국전자통신학회논문지
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• 제10권2호
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• pp.177-182
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• 2015

어안렌즈의 특성으로 인해 발생하는 왜곡을 보정하는 일반적인 방법은 크게 두 가지 방법으로 분류할 수 있다. 첫 번째 방법은 렌즈의 특성을 고려한 수학적 모델링을 통한 보정 방법이고, 두 번째 방법은 렌즈의 종류와 상관없이 획득되는 영상만을 통한 보정 방법이다. 렌즈의 특성을 고려하는 경우는 렌즈의 파라미터와 실세계에 존재하는 3차원 실세계좌표와 2차원 영상좌표의 관계를 통해 기하학적으로 보정 식을 구할 수 있다. 그러나 기존 어안렌즈 보정에 관한 논문들은 구형태의 어안렌즈를 기준으로 유도되었기 때문에 타원체 형태의 어안렌즈에 대해서는 맞지 않는다. 본 논문에서는 어안렌즈를 타원체로 모델링하여 기하학적으로 보정하는 방법을 제안한다. 보정한 결과를 통해 제안한 방법이 타당한 것을 확인할 수 있다.

• 한국멀티미디어학회논문지
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• 제19권2호
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• pp.418-427
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• 2016

A smart parking management requires to track a vehicle in a indoor parking lot and to detect the place where the vehicle is parked. An advanced parking system watches all space of the parking lot with CCTV cameras. We can use these cameras for vehicles tracking and detection. In order to cover a wide area with a camera, a fisheye lens is used. In this case the shape and size of an moving vehicle vary much with distance and angle to the camera. This makes vehicle detection and tracking difficult. In addition to the fisheye lens, the vehicle headlights also makes vehicle detection and tracking difficult. This paper describes a method of realtime vehicle detection and tracking robust to the harsh situation described above. In each image frame, we update the region of a vehicle and estimate the vehicle movement. First we approximate the shape of a car with a quadrangle and estimate the four sides of the car using multiple histograms of oriented gradient. Second we create a template by applying a distance transform to the car region and estimate the motion of the car with a template matching method.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.256-261
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• 2007

The purpose of this study is to investigate the effect of shot peening on the fatigue strength and fatigue life of two kinds of aluminum alloys. The fatigue strength behavior of aluminum alloys were estimated by the stress ratio and shot velocities. The fatigue life and strength increased with increasing the test shot velocity. However, at the shot velocity range between 50m/s and 70m/s, the compressive residual stress phenomena were observed in test conditions of different shot velocity. The optimal shot velocity is acquired by considering the peak values of the compressive residual stress, dislocations, brittle striation, slip, and fisheye on the fracture surface of test specimen. It was observed from the SEM observation on the deformed specimen that the brittle striation, fisheye were showed in the intergranular fracture structure boundaries at the this velocities. Therefore, fatigue strength and fatigue life would be considered that shot velocity has close relationship with the compressive residual stress.

• 로봇학회논문지
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• 제6권3호
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• pp.210-219
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• 2011

This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.