• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• Journal of the Optical Society of Korea
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• 제18권6호
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• pp.746-752
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• 2014

In a multi-camera measurement system, the determination of the external parameters is one of the vital tasks, referred to as the calibration of the system. In this paper, a new geometrical calibration method, which is based on the theory of the vanishing line, is proposed. Using a planar target with three equally spaced parallel lines, the normal vector of the target plane can be confirmed easily in every camera coordinate system of the measurement system. By moving the target into more than two different positions, the rotation matrix can be determined from related theory, i.e., the expression of the same vector in different coordinate systems. Moreover, the translation matrix can be derived from the known distance between the adjacent parallel lines. In this paper, the main factors effecting the calibration are analyzed. Simulations show that the proposed method achieves robustness and accuracy. Experimental results show that the calibration can reach 1.25 mm with the range about 0.5m. Furthermore, this calibration method also can be used for auto-calibration of the multi-camera mefasurement system as the feature of parallels exists widely.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2013년도 추계학술발표대회
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• pp.1457-1460
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• 2013

We propose a flexible camera calibration system for mobile platform to calibrate the camera's intrinsic parameters which based on the geometrical property of the vanishing points determined by two perpendicular groups of parallel lines. The system only requires the camera to observe a rectangle card show at a few(at least four)different orientation. The experimental results of the real images show the proposed calibration system in this paper is easy to use and robust.

• 한국기계가공학회지
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• 제21권3호
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• pp.100-109
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• 2022

In this study, calibration technology that increases the alignment accuracy in large flexible flat panels was studied. For precise of calibration, a systematization of the calibration algorithm was established, and a calibration correction technique was studied to revise calibration errors. A coordinate systems of camera and UVW stage was established to get the global position of the mark, and equations for translational and rotational calibration were systematically derived based on geometrical analysis. Correction process for the calibration data was carried, and alignment experiments were performed sequentially in cases of the presence or absence of calibration-correction. Alignment results of both calibration correction and non-calibration correction showed accuracy performance less than 1㎛. On the other hand, the standard deviation in calibration-correction is smaller than non-calibration correction. Therefore, calibration correction showed improvement of the alignment repeatability.

• 한국정밀공학회지
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• 제22권5호
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• pp.63-71
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• 2005

When an almost flat surface under test is measured by an interferometer, the measurement result is largely influenced by systematic errors that include geometrical errors of a reference flat surface. To determine the systematic errors of the interferometer by the conventional method that is called the three flat method, we must take the reference flat surface out from the interferometer and measure it. Because of difficulties to set the reference flat surface to the interferometer exactly and quickly, this method is not practical. On the other hand, the method that measures a surface under test with some shifts in the direction being perpendicular to the optical axis of the interferometer is studied. However, the parasitic pitching, rolling and up-down movement caused by the above shifts brings serious error to the measurement result, and the algorithm by which the influences can be eliminated is not still established. In this paper, we propose the self-calibration algorithm for determining the systematic errors that include geometrical errors of a reference flat surface by several rotation shifts and a linear shift of general surface under test, and verify by a numerical experiment that this algorithm is useful for determining the systematic errors.

• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.198-207
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• 1999

This paper presents an accurate algorithm for geometric calibration of X-ray imaging system. Calibration is a very important process for improving an imaging system performance. There has been a lot of previous works using linear camera modeling technique, where lens distortion is neglected and/or center of distortion is assumed to be known. Geometrical distortion of image intensifier, however, is very large and its center of distortion should be calculated. This paper presents a new calibration method to estimate the intensifier position and orientation, scale factor, distortion coefficient, magnification factor, and center of distortion using the least square method. We investigate the properties of the algorithm by computer simulation. Simulation results show that the parameters can be estimated accurately using the proposed algorithm.

• Agricultural and Biosystems Engineering
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• 제4권1호
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• pp.16-21
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• 2003

In the agricultural field, a machine vision system has been widely used to automate most inspection processes especially in quality grading. Though machine vision system was very effective in quantifying geometrical quality factors, it had a deficiency in quantifying color information. This study was conducted to evaluate color of beef using machine vision system. Though measuring color of a beef using machine vision system had an advantage of covering whole lean tissue area at a time compared to a colorimeter, it revealed the problem of sensitivity depending on the system components such as types of camera, lighting conditions, and so on. The effect of color balancing control of a camera was investigated and multi-layer BP neural network based color calibration process was developed. Color calibration network model was trained using reference color patches and showed the high correlation with L*a*b* coordinates of a colorimeter. The proposed calibration process showed the successful adaptability to various measurement environments such as different types of cameras and light sources. Compared results with the proposed calibration process and MLR based calibration were also presented. Color calibration network was also successfully applied to measure the color of the beef. However, it was suggested that reflectance properties of reference materials for calibration and test materials should be considered to achieve more accurate color measurement.

• 전자공학회논문지
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• 제49권9호
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• pp.155-163
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• 2012

기하학적 오차와 전기적 오차는 배열센서 시스템의 성능을 심각하게 저하할 수 있다. 이러한 문제를 완화시키기 위해 다양한 보정 기술이 개발되었다. 본 논문에서는 배열센서의 위치오차, 이득오차, 위상오차를 보상하는 두 가지 기술을 비교하였다. 그 중 하나의 방법은 1차 테일러급수 전개를 통해 배열센서의 명목상 값으로부터 실제 조향 벡터를 예측한 후 MUSIC 알고리즘의 null 특성을 이용하여 형성되는 몇 가지 식을 이용하여 센서의 실제 위치, 이득, 위상을 추정한다. 또 다른 하나의 방법은 기준신호원의 공분산 행렬을 이용하여 이러한 오차들을 예측한다. 시뮬레이션을 통해 두 가지 보정기술 모두 성공적으로 오차를 보정하였고, 10dB~50dB SNR 범위에서 Fistas and Manikas의 알고리즘이 Ng and Lie의 알고리즘 보다 노이즈에 더 강건하다는 것을 증명하였다.

• Nuclear Engineering and Technology
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• 제52권6호
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• pp.1271-1276
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• 2020

The geometrical efficiency of a source-to-detector configuration is considered to be necessary in the calculation of the full energy peak efficiency, especially for NaI(Tl) and HPGe gamma-ray spectroscopy detectors. The geometrical efficiency depends on the solid angle subtended by the radioactive sources and the detector surfaces. The present work is basically concerned to establish a new mathematical approach for calculating the solid angle and geometrical efficiency, based on conversion of the geometrical solid angle of a non-axial radioactive point source with respect to a circular surface of the detector to a new equivalent geometry. The equivalent geometry consists of an axial radioactive point source with respect to an arbitrary elliptical surface that lies between the radioactive point source and the circular surface of the detector. This expression was extended to include coaxial radioactive circular disk source. The results were compared with a number of published data to explain how significant this work is in the efficiency calibration procedure for the γ-ray detection systems, especially in case of using isotropic radiating γ-ray sources in the form of point and disk shapes.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.