• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.716-721
• /
• 1990

It is one of the essential task to determine the absolute location of mobile robot during its navigation. In this paper we propose an algorithm to calculate the distance and orientation of camera from landmark through the visual image of stripe typed landmark. Exact closed form solution of camera location is obtained with the correspondences from vertical line on mark plane to the intersection point of projected line with horizontal axis of image plane. It needs only one line image information, so that location determination can be processed in real time.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.40-43
• /
• 1997

This paper presents a 3D object recognition method for generation of 3D environmental map or obstacle recognition of mobile robots. An active light source projects a stripe pattern of light onto the object surface, while the camera observes the projected pattern from its offset point. The system consists of a laser unit and a camera on a pan/tilt device. The line segment in 2D camera image implies an object surface plane. The scaling, filtering, edge extraction, object extraction and line thinning are used for the enhancement of the light stripe image. We can get faithful depth informations of the object surface from the line segment interpretation. The performance of the proposed method has demonstrated in detail through the experiments for varies type objects. Experimental results show that the method has a good position accuracy, effectively eliminates optical noises in the image, greatly reduces memory requirement, and also greatly cut down the image processing time for the 3D object recognition compared to the conventional object recognition.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.2
• /
• pp.28-34
• /
• 2014

A non-contact type measurement system is specially devised to measure the width of a piston ring groove in the grinding process. This system comprises a line camera with an imaging lens, collimated white light source, and a one axis translation stage. When the measurement system movesalong the diagonal direction of the cylinder, the line camera captures an image. By analyzing such images, the width of the piston ring groove can be determined. The experimental results prove that the proposed system is useful, especially as a monitoring system in grinding piston ring grooves on cylinders with accuracy of several micrometers in an area of dozens of millimeters.

• Proceedings of the Korean Institute of Surface Engineering Conference
• /
• 2009.10a
• /
• pp.243-244
• /
• 2009

진공 chamber 내부 plasma를 외부에서 view port를 통한 확인 및 촬영보다 효율을 높이기 위하여 chamber 내부에 무선 camera (IVC : internal vacuum camera)를 삽입하여 더 세밀하게 plasma를 촬영하였고 view port로 확인이 불가능한 부분을 촬영 및 녹화하였다. 외부 view port로 확인할 수 없는 원거리 플라즈마 소스 (remote plasma source, RPS)와 in-line type의 chamber에서 동적 (dynamic) 증착이 이루어지는 substrate에 camera를 부착하여 이동 중 target 위쪽에 방전된 plasma, ICP (inductively coupled plasma) antenna를 진공 중 chamber 내부에서 촬영 및 녹화하였다.

• The Journal of Korea Robotics Society
• /
• v.11 no.1
• /
• pp.1-8
• /
• 2016

In this paper, we propose a new algorithm of the guidance line extraction for autonomous agricultural robot based on vision camera in paddy field. It is the important process for guidance line extraction which finds the central point or area of rice row. We are trying to use the central region data of crop that the direction of rice leaves have convergence to central area of rice row in order to improve accuracy of the guidance line. The guidance line is extracted from the intersection points of extended virtual lines using the modified robust regression. The extended virtual lines are represented as the extended line from each segmented straight line created on the edges of the rice plants in the image using the Hough transform. We also have verified an accuracy of the proposed algorithm by experiments in the real wet paddy.

• Journal of Power System Engineering
• /
• v.15 no.5
• /
• pp.91-96
• /
• 2011

The handling ability of containers at the terminal strongly depends on the performance of the cargo handling system such as RTGC(Rubber Tired Gantry Crane) and RMGC(Rail Mounted Gantry Crane). This paper introduces a guide line measurement system on the operating condition, in which two camera are installed to detect the guide line. Because the line tracking is the basic technique for control system design of RTGC, it is necessary to develop a useful and reliable measurement system. If the displacement and angle of the RTGC relative to a guide line as the trajectory to follow is obtained, the position of RTGC is automatically calculated. Therefore, in this paper, a camera-based measurement system is introduced. The proposed measurement system is robust against light fluctuation and cracks of the guide line. This system consists of two camera and a PC which are installed at the lower side of the RTGC. Two edges of the guide line are detected from an input image taken by the cameras in the moving state, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, the accuracy and usefulness of the proposed system is evaluated by comparing other instruments.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.50 no.4
• /
• pp.161-167
• /
• 2001

Camera calibration is very important problem in 3D measurement using vision system. In this paper is proposed the simple method for camera calibration. It is designed that uses the principle of vanishing points and the concept of corresponding points extracted from the parallel line pairs. Conventional methods are necessary for 4 reference points in one frame. But we proposed has need for only 2 reference points to estimate vanishing points. It has to calculate camera parameters, focal length, camera attitude and position. Our experiment shows the validity and the usability from the result that absolute error of attitude and position is in $10^{-2}$.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.151-152
• /
• 2009

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.9
• /
• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.10 no.1
• /
• pp.25-30
• /
• 2010

This paper is proposed about three axis motion control camera design method based on wires. Original motion control camera consists of track, boom, L-Head, Camera and so on and is enormous and expensive. But proposed motion control camera adjusts wire length using encoders and motors. And position control use position based straight line of straight-line move method for moving precise position. Proposed simple design is able to use various place and inexpensive than original motion control camera. But, camera was vibrated and rotated due to basic property of wire. So we proposed solutions that connected method of wire and using a tensional object for reducing rotation. For proposed algorithm verification, we realized three axis motion control camera based on wire and measured oscillation while moving same trace. We confirmed the results that standard deviation of oscillation was reduced 4.93 degree than before design method.