• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.2
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• pp.73-81
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• 2018

This paper describes a device platform which the blind can wear to keep path and to get surrounding information during their independent walking. Compared to the existing technologies, the proposed device could be used indoors and outdoors, and maps need not be provided in advance. It is composed of a glasses type device equipped with image sensors, and a portable device that analyzes sensor data for sighted guiding. RGB images and depth images are extracted to generate a walking map based on feature points. It also can cope with the risk of collision with bollard, color cone by applying vertical obstacle detection technology based on floor detection.

• Journal of KIEE
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• v.10 no.1
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• pp.1-6
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• 2000

This paper represents the design of 3D endoscopic video system in order to improve visualization and enhance the ability of the surgeon to perform delicate endoscopic surgery. In comparison of the polarized and electric shutter-type stereo imaging system, The former is superior in terms of accuracy and performance speed for knot-tying and loop pass test. The result of experiments show that the proposed 3D endoscopy system has a wide viewing angle and zone which is necessary for multi-view and it has better image quality and stability of the optical performances than the electric shutter-type does.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2222-2224
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• 1998

This paper presents a 3D feature extraction method using rough set theory. Using the stereo cameras, we obtain the raw images and then perform several processes including gradient computation and image matching process. Decision rule constructed via rough set theory determines whether a ceratin point in the image is 3D edge or not. We propose a method finding rules for 3D edge extraction using rough set.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.3047-3049
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• 2000

The ability to efficiently and robustly recover accurate 3D terrain models from sets of stereoscopic images is important to many civilian and military applications. To develop an effective and practical terrain modeling system. We propose the methods which detect unreliable elevations in digital elevation maps (DEMs). and fuse several DEMs from multiple sources into an accurate and reliable result. This paper focuses on two key factors for generating robust 3D terrain models. the ability to detect unreliable elevation estimates. and to fuse the reliable elevations into a single optimal terrain model. We apply the correlation score methodology to reconstruct accurate DEM for multi-image and show the method is more effective than the conventional averaging method. The photo-realistic simulator is used for generating four simulated images from ground truth DEM and orthoimage.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.934-936
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• 1995

To get a good result of the feature-based stereo matching, contour of buildings must be extracted exactly. In this paper, an algorithm that extracts contour of flat top buildings exactly is proposed. The Algorithm is composed of three steps. One is to find corner points of 4 types in whole image and another is to extract exact lines between coners by edge following technique, the third is to extract exact contour of buildings using binding structures. We have a good result in extracting contour of buildings.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.997-999
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• 2003

The effects of JPEG2000 compression on automated DSM extraction by using the area-based matching are evaluated in this paper. The influences on DSM heights obtained via PCI Geomatics OrthoEngine module are investigated using a single stereo model of 1:5,000 scale aerial photography at image resolution of 20 ${\mu}$m. The experiment design of elevation errors are computed for a range of compression rates from 2:1 to about 100:1, and the DSM which generated from uncompressed image is used as ‘ground truth’ data for comparison. The experimental results show that the standard deviation ranged from 0.9m to 2.5m with the compression ratio from 2 to 100. It is also observed that there is no significant degradation on DSM accuracy up to the compression ratio of 33.

• Journal of Power System Engineering
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• v.6 no.1
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.4
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• pp.60-66
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• 2005

In this paper, we propose the basic measurement method of a 3D digitizer using a CCD camera in detail. In the localization measurement with a CCD camera, the effect of the background light and the sensitivity consideration are always problems in realizing a high precision. In this research, a new measurement principle is proposed in which the pulse compression technique known in radar is used to eliminate the effect of background light even under a low intensity light source, and the coordinate values on the CCD camera image plane are determined accurately. From the quantitative evaluation of the S/N ratio improvement and the fundamental experiment, it is verified that a substantial improvement in the S/N ratio is realized for both the background noise and the pixel noise and that a resolution of less than the pixel is sufficiently possible.

• Journal of Korean Society for Geospatial Information Science
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• v.15 no.4
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• pp.81-88
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• 2007

The geometry of satellite image captured by linear CCD sensor is different from that of frame camera image. The fact that the exterior orientation parameters for satellite image with linear CCD sensor varies from scan line by scan line, causes the difference of image geometry between frame and linear CCD sensor. Therefore, we need the epipolar geometry for linear CCD image which differs from that of frame camera image. In this paper, we proposed a method of resampling linear CCD satellite image in epipolar geometry under the assumption that image is not formed in perspective projection but in parallel projection, and the sensor model is a 2D affine sensor model based on parallel projection. For the experiment, IKONOS stereo images, which are high resolution linear CCD images, were used and tested. As results, the spatial accuracy of 2D affine sensor model is investigated and the accuracy of epipolar resampled image with RFM was presented.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.