• Proceedings of the Korean Society of Laser Processing Conference
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• 2001.05a
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• pp.75-77
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• 2001

• Proceedings of the Korean Society of Laser Processing Conference
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• 2000.06a
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• pp.39-42
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• 2000

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.1
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• pp.43-48
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• 2003

A linear laser-vision sensor called ‘Perception TriCam Contour' is mounted on an industrial robot and often used for various application of the robot such as the position correction and the inspection of a part. In this paper, a sensor center position calibration is presented for the most accurate use of the robot-Perceptron system. The obtained algorithm is suitable for on-site calibration in an industrial application environment. The calibration algorithm requires the joint sensor readings, and the Perceptron sensor measurements on a specially devised jig which is essential for this calibration process. The algorithm is implemented on the Hyundai 7602 AP robot, and Perceptron's measurement accuracy is increased up to less than 1.4mm.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.4
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• pp.22-28
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• 2007

The welded defects are usually called user's unsatisfaction for appearance and functional usage. For checking these defects effectively without time loss, setup of weldability estimation system is an important for detecting whole specimen quality. In this study, after catching a rawdata on welded specimen profiles and treating vision processing with these data, the qualitative defects are estimated from getting these information by laser vision camera at first. At the same time, the weldability estimation for whole specimen is produced. For user friendly, the weldability estimation results are shown each profiles, final reports and visual graphics method. So, user can easily determined weldability. By applying these system to welding fabrication, these technologies are contribution to on-line setup of weldability estimation system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.5
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• pp.529-535
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• 2009

This paper describes a measuring device of glass thickness using machine vision and image processing techniques on real-time. Today, the machine vision enable to inspect fast and exactly than human's eyes. The presented system has advantages of continuous measurement, flexibility and good accuracy. The system consists of a laser diode, a CCD camera with PC. The camera located on the opposite side of the incident beam measures the distance between two reflected laser beams from the glass top and bottom surface. We apply a binary algorithm to convert and analyze the image from camera to PC. Laser point coordination by border tracing algorithm is used to find the center of beam circle. The measured result was compared with micrometer and showed 0.002mm accuracy. Finally, the errors were discussed how to minimize the influence of glass wedge angle and angular error of moving stage.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• International Journal of Korean Welding Society
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• v.3 no.2
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• pp.53-59
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• 2003

Visual inspection using laser vision sensor was proposed for fast and economic inspection and was verified experimentally. Welding is one of the most important manufacturing processes for automotive and electronics industries as well as heavy industries. The weld zone influences the reliability of the products. There are two kinds of weld inspection tests, destructive and non­destructive test. Even though the destructive test is much more reliable, the product should be destroyed, and hence the non­destructive test such as ultrasonic or X­ray test was used to overcome this problem. However, these tests are not used for real time inspection.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.93-96
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• 1996

Structured laser light is a widely used method for obtaining 3D range information in Machine Vision. However, The structured laser light method is based on assumption that the surface of objects is Lambertian. When the observed surfaces are highly specularly reflective, the laser light can be detected in various parts on the image due to a specular reflection and secondary reflection. This makes wrong range data and the image sensor unusable for the specular objects. To discriminate wrong range data from obtained image data, we have proposed a new algorithm by using the cross section of image block. To show the performance of the proposed method, a series of experiments was, carried out on: the simple geometric shaped objects. The proposed method shows a dramatic improvement of 3D range data better than the typical structured laser light method.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.82-87
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• 1998

In this study, the theoretical resolution analysis of an active vision system using laser range finder is performed for surrounding recognition and 3D data acquisition in unknown environment. In the result, the resolution of range data in laser range finder is depend on the distance between lens center of CCD camera and light emitter, view angle, beam angle, and parameters of CCD camera. The theoretical resolutions of the laser range finders of various types which are based on parameters effected resolution are calculated and experimental results are obtained in real system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.5
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• pp.422-428
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• 2013

Recently, many unmanned aerial vehicle (UAV) studies have focused on small UAVs, because they are cost effective and suitable in dangerous indoor environments where human entry is limited. Map building through distance measurement is a key technology for the autonomous flight of small UAVs. In many researches for unmanned systems, distance could be measured by using laser range finders or stereo vision sensors. Even though a laser range finder provides accurate distance measurements, it has a disadvantage of high cost. Calculating the distance using a stereo vision sensor is straightforward. However, the sensor is large and heavy, which is not suitable for small UAVs with limited payload. This paper suggests a low-cost distance measurement system using a laser pointer and a monocular vision sensor. A method to measure distance using the suggested system is explained and some experiments on map building are conducted with these distance measurements. The experimental results are compared to the actual data and the reliability of the suggested system is verified.