• 전자공학회논문지B
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• 제29B권2호
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• pp.40-49
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• 1992

In this paper,a new approach-using the linear movement of the lens location in a camera and focal distance in each location for the measurement of the depth of the 3-D object from several 2-D images-is proposed. The sharply focused edges are extracted from the images obtained by moving the lens of the camera, that is, the distance between the lens and the image plane, in the range allowed by the camera lens system. Then the depthin formation of the edges are obtained by the lens location. In our method, the accurate and complicated control system of the camera and a special algorithm for tracing the accurate focus point are not necessary, and the method has some advantage that the depth of all objects in a scene are measured by only the linear movement of the lens location of the camera. The accuracy of the extracted depth information is approximately 5% of object distances between 1 and 2m. We can see the possibility of application of the method in the depth measurement of the 3-D objects.

• 로봇학회논문지
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• 제1권2호
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2003년도 추계학술발표회 논문집
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• pp.219-224
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• 2003

Recently, the number of the use of Digital Photogrammetry is increasing, the Digital Photogrammetry is used for the acquisition of images, remote sensing and three dimension location. Especially, the three dimension location is more activated to use digital camera for the Digital Photogrammetry. The reason is that it is cheap and easy to use and also it has high confidence. Using non-metric digital camera not metric camera, in this research, to get images and apply the images to the Direct Liner Transformation which is one of the techniques in Digital Photogrammetry to get three dimensional location of a point. Ⅰ programmed the procedure with Visual C++ to get the position of points speedly and I tested possibility whether it can analyze the displacement and the existence of structure with measurement system which is structured by a inexpensive non-metric digital camera.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.161-167
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• 2008

This article describes the methods of a decision of the location which user points to move by an optical device like a laser pointer and a moving to that location. Using a conic mirror and CCD camera sensor, a robot observes a spot of user wanted point among an initiative, computes the location and azimuth and moves to that position. This system offers the brief data to a processor with simple devices. In these reason, we can reduce the time of a calculation to process of images and find the target by user point for carrying a robot. User points a laser spot on a point to be moved so that this sensor system in the robot, detecting the laser spot point with a conic mirror, laid on the robot, showing a camera. The camera is attached on the robot upper body and fixed parallel to the ground and the conic mirror.

• Nuclear Engineering and Technology
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• 제51권1호
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• pp.155-162
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• 2019

To reduce the secondary damage caused by leakage accidents in plant piping systems, a constant surveillance system is necessary. To ensure leaks are promptly addressed, the surveillance system should be able to detect not only the leak itself, but also the location of the leak. Recently, research to develop new methods has been conducted using cameras to detect leakage and to estimate the location of leakage. However, existing methods solely estimate whether a leak exists or not, or only provide two-dimensional coordinates of the leakage location. In this paper, a method using multiple cameras to detect leakage and estimate the three-dimensional coordinates of the leakage location is presented. Leakage is detected by each camera using MADI(Moving Average Differential Image) and histogram analysis. The two-dimensional leakage location is estimated using the detected leakage area. The three-dimensional leakage location is subsequently estimated based on the two-dimensional leakage location. To achieve this, the coordinates (x, z) for the leakage are calculated for a horizontal section (XZ plane) in the monitoring area. Then, the y-coordinate of leakage is calculated using a vertical section from each camera. The method proposed in this paper could accurately estimate the three-dimensional location of a leak using multiple cameras.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 춘계학술대회
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• pp.313-315
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• 2011

Smart phone에 실장되는 카메라 모듈은 Focus 동작에 따라 2가지 타입이 있다. AF(Auto focus) camera module과 FF(Fixed focus) camera module 2가지 타입이다. AF Camera module은 Lens의 위치를 이동하여 자동으로 초점을 맞추는 방식이며, FF camera module은 Lens의 위치가 고정된 상태로 초점을 맞추는 방식이다. EDOF camera module은 Lens의 위치가 고정된 상태에서 AF 모듈처럼 EDOF 알고리즘을 사용하여 초점을 맞추는 기술을 적용한 모듈이다. 본 논문에서는 이러한 EDOF camera module의 해상도 최적화를 구현한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.716-721
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• 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.

• 대한임베디드공학회논문지
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• 제6권1호
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• pp.1-7
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• 2011

In the bomb impact test, to acquire the bomb impact point location the high-priced embedded equipments such as the Bomb Scoring System or the EOTS are needed. Recently, a high-resolution image processing could be possible since the resolution of the commercial camera is growing rapidly. In this paper we first propose an image transformation method for acquiring the real bomb impact image using a high-resolution commercial camera, and then present the process calculating the real bomb impact point location coordinate from the transformed image. Based on the experimental results we found the possibilities that the real bomb impact point information could be effectively earned just using the commercial camera.

• Nuclear Engineering and Technology
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• 제51권2호
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• pp.533-538
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• 2019

The mechanical-collimation imaging is the most mature technology in prompt gamma (PG) imaging which is considered the most promising technology for beam range verification in proton therapy. The purpose of the present study is to compare the performances of two mechanical-collimation PG cameras, knife-edge (KE) camera and multi-slit (MS) camera. For this, the PG cameras were modeled by Geant4 Monte Carlo code, and the performances of the cameras were compared for imaginary point and line sources and for proton beams incident on a cylindrical PMMA phantom. From the simulation results, the KE camera was found to show higher counting efficiency than the MS camera, being able to estimate the beam range even for $10^7$ protons. Our results, however, confirmed that in order to estimate the beam range correctly, the KE camera should be aligned, at least approximately, to the location of the proton beam range. The MS camera was found to show lower efficiency, being able to estimate the beam range correctly only when the number of the protons is at least $10^8$. For enough number of protons, however, the MS camera estimated the beam range correctly, errors being less than 1.2 mm, regardless of the location of the camera.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2012년도 춘계학술대회
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• pp.327-330
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• 2012

도시의 급격한 발전으로 공사의 증가가 증가하게 되고 이동 차량 또한 증가 하게 된다. 이는 자연히 시각 장애인들의 보행을 점점 더 어렵게 만든다. 이러한 어려움을 해결하고자 Android 기반의 Portable Navigation System을 도입하여 시각 장애인의 보행을 돕고, 서비스 센터에서 시각 장애인의 이동을 실시간으로 모니터링 하여서 시각 장애인의 보행에 도움을 주고자 한다. 노인이 서비스 센터에 배치되어 노인 인구 증가 문제의 해소 방안도 제공한다. 시각 장애인이 들고 다닐 수 있는 형태의 Android 기반의 Portable Navigation System은 GPS, Camera, Audio, wifi를 가지고 있어, GPS위치 정보와 Camera 영상 정보를 실시간으로 wifi망을 이용해 서비스 센터로 전송을 하여 주고, 서비스 센터에서 시각 장애인의 GPS Location 정보를 바탕으로 그 위치를 지도에 표시하고, Camera 영상 정보로 시각 장애인이 바라보고 있는 곳의 상황을 모니터링 하며, Audio를 통해, 실시간으로 대화를 통해서 길안내 해주는 Navigation System이다.