• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.8-16
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• 2016

In the field of computer vision and robotics, bin picking is an important application area in which object pose estimation is necessary. Different approaches, such as 2D feature tracking and 3D surface reconstruction, have been introduced to estimate the object pose accurately. We propose a new approach where we can use both 2D image features and 3D surface information to identify the target object and estimate its pose accurately. First, we introduce a label detection technique using Maximally Stable Extremal Regions (MSERs) where the label detection results are used to identify the target objects separately. Then, the 2D image features on the detected label areas are utilized to generate 3D surface information. Finally, we calculate the 3D position and the orientation of the target objects using the information of the 3D surface.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.33-41
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• 2017

We present a region-based approach for accurate pose estimation of small mechanical components. Our algorithm consists of two key phases: Multi-view object co-segmentation and pose estimation. In the first phase, we explain an automatic method to extract binary masks of a target object captured from multiple viewpoints. For initialization, we assume the target object is bounded by the convex volume of interest defined by a few user inputs. The co-segmented target object shares the same geometric representation in space, and has distinctive color models from those of the backgrounds. In the second phase, we retrieve a 3D model instance with correct upright orientation, and estimate a relative pose of the object observed from images. Our energy function, combining region and boundary terms for the proposed measures, maximizes the overlapping regions and boundaries between the multi-view co-segmentations and projected masks of the reference model. Based on high-quality co-segmentations consistent across all different viewpoints, our final results are accurate model indices and pose parameters of the extracted object. We demonstrate the effectiveness of the proposed method using various examples.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.58 no.4
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• pp.352-358
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• 2022

We explored the frequency response of krill target strength (TS) to understand the Antarctic krill (Euphausia superba) and ice krill (Euphausia crystallorophias) using the stochastic distorted-wave Born approximation (SDWBA) model. The results showed that the distribution of orientation and the fatness factor could significantly impact on the frequency response of TS. Krill TS is clearly depended on acoustic properties, which could affect to estimate the biomass of two krill species. The results provide insight into the importance of understanding TS variation to estimate the Antarctic krill and ice krill biomass, and their ecology related to the environmental features in the Southern Ocean.

• Journal of the Korean Ceramic Society
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• v.36 no.2
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• pp.116-121
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• 1999

0.5 wt%Nb-doped SrTiO3(Nb: STO) thin film was prepared on MgO(100) single crystal substrates by Pulsed Laser Deposition (PLD). The Crystallinity and the orientation of Nb:STO thin films were characterized by XRD with changing the thin film processing condition-oxygen partial pressure, substrate temperature, deposition time and the distance between target and substrate. The orientation of Nb:STO thin film showed (100), (110) and (111) orientations at the substrate temperature of $700^{\circ}C$. The lattice parameter of Nb:STO decreased with increasing Po2 and showed 0.3905 nm at Po2=100 Pa, which was similar to that of the bulk. The thickness of Nb:STO thin film increased with increasing the deposition time and with decreasing the distance between target and substrate.

• Journal of the Korean Vacuum Society
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• v.16 no.5
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• pp.343-347
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• 2007

Fe thin films exhibited (100) preferential orientation when they were deposited at low deposition rate of $0.1{\AA}/s$ on glass substrates by using facing target sputtering system. The (100) oriented Fe layer induces (100) orientation of Pt layer deposited on it owing to hetero-epitaxial growth. After annealing at $600^{\circ}C$ in $H_2$ atmosphere, FePt films exhibited f.c.t. (001) texture in the whole film caused by inter-diffusion between atoms. We have also confirmed that the homogeneously inter-diffused compositional modulation in the film after the annealing process. Furthermore, annealing process in $Ar+H_2$ atmosphere at $400^{\circ}C$ during Pt deposition was effective for attaining Pt (100) texture. The annealing process during Pt deposition also induced in low annealing temperature and decreased annealing time for attaining the FePt f.c.t. (001) structure.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.38 no.6
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• pp.511-519
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• 2020

For camera calibration, a checkerboard is generally used to determine the principal point, focal length, and lens distortions. The checkerboard has a planar and three-dimensional shape, and camera calibration parameters are affected by the size of the checkerboard, the placement of the target, and the number of target points. In this study, the accuracies of the types of checkerboards were compared using checkpoints for stereo camera calibration, and the purpose of this study was to propose the best performance checkerboard. The checkerboard with large flat shape showed comparatively high accuracy through comparison with the check points. However, due to the size of the checkerboard, it was inconvenient to move and rotate, and there was a disadvantage in that it was difficult to shoot so that the target points could all appear in the stereo camera. The checkerboard, which was manufactured in a small size in a flat shape, was easy to move and rotate but had the lowest three-dimensional accuracy. The checkerboard with targets with height values had the hassle of having to determine the three-dimensional coordinates of the target points by using observation equipment for camera calibration, but it was small in size, convenient to move and rotate, and showed the highest three-dimensional accuracy.

• Journal of Biomedical Engineering Research
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• v.37 no.2
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• pp.68-74
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• 2016

In this study, we investigated the rotational characteristics which were comprised of directionality and linearity of target registration error (TRE) as a study in advance to enhance the accuracy of contour-based registration in neuronavigation. For the experiment, two rigid head phantoms that have different faces with specially designed target frame fixed inside of the phantoms were used. Three-dimensional coordinates of facial surface point cloud and target point of the phantoms were acquired using computed tomography (CT) and 3D scanner. Iterative closest point (ICP) method was used for registration of two different point cloud and the directionality and linearity of TRE in overall head were calculated by using 3D position of targets after registration. As a result, it was represented that TRE had consistent direction in overall head region and was increased in linear fashion as distance from facial surface, but did not show high linearity. These results indicated that it is possible for decrease TRE by controlling orientation of facial surface point cloud acquired from scanner, and the prediction of TRE from surface registration error can decrease the registration accuracy in lesion. In the further studies, we have to develop the contour-based registration method for improvement of accuracy by considering rotational characteristics of TRE.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2003.10a
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• pp.181-186
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• 2003

As the approach close-range digital photogrammetry has a variety of merits, the application of precision requiting fields is in Increase for its scope expansion. In the meantime, in case of photographic surveying by use of films, a lot of studies on experiment analysis and theoretical forecast models about a change of the exactness as per photographing coordinates have been conducted, but experiments about approach close-range digital photogrammetry are not enough yet. In consequence, this study has made photographing respectively by changing the photographic distance, converging angle, picturing direction by use of Rollei d7 metric and d7 metric$\^$5/ that is a measurement digital camera. And also in order to minimize the errors happened at the relative orientation, we have sorted out the prototype target that the relative orientation is automatically on the programming and have calculated RMSE by carrying out the bundle adjustment. We think that such a study could be used as very important basic data necessary in deriving the optimal photographic conditions by the close-range digital photogrammetry and in judging such a degree.

• Journal of the Korean Association of Geographic Information Studies
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• v.8 no.4
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• pp.123-133
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• 2005

This study has made photographing respectively by changing the converging angle by use of d7 $metric^5$ that is a measurement digital camera. And also in order to minimize the errors happened at the relative orientation, we have sorted out the round target that the relative orientation is automatically on the programming and have calculated RMSE by carrying out the bundle adjustment. We think that such a study could be used as very important basic data necessary in deriving the optimal photographic conditions by the close-range digital photogrammetry and in judging such a degree.

• Advanced Composite Materials
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• v.18 no.4
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• pp.297-314
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• 2009

A design method is proposed to optimize the stacking sequence of laminated composite plates for desired vibration characteristics. The objective functions are the natural frequencies of the laminated plates, and three types of optimization problems are studied where the fundamental frequency and the difference of two adjacent frequencies are maximized, and the difference between the target and actual frequencies is minimized. The design variables are a set of discrete values of fiber orientation angles with prescribed increment in the layers of the plates. The four lamination parameters are used to describe the bending property of a symmetrically laminated plate, and are optimized by a gradient method in the first stage. A new technique is introduced in the second stage to convert from the optimum four lamination parameters into the stacking sequence that is composed of the optimum fiber orientation angles of all the layers. Plates are divided into sub-domains composed of the small number of layers and designed sequentially from outer domains. For each domain, the optimum angles are determined by minimizing the errors between the optimum lamination parameters obtained in the first step and the parameters for all possible discrete stacking sequence designs. It is shown in numerical examples that this design method can provide with accurate optimum solutions for the stacking sequence of vibrating composite plates with various boundary conditions.