• Journal of the Korean Institute of Navigation
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• v.16 no.3
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• pp.77-85
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• 1992

Camera arrangement for depth and image correspondence is very important to the computer vision. Two conventional comera arrangements for stereo computer vision are lateral model and axial motion model. In this paper, using the axial motion stereo camera model, the algorithm for camera focal length measurement and the surface smoothness with the radiance-irradiance is proposed fro 3-dimensional image correspondence on stereo computer vision. By adapting the above algorithm, camera focal length can be measured precisely and the resolution of 3-dimensional image correspondence has been improved comparing to that of the axial motion model without the radiance-irradiance relation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.500-503
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• 1997

In this paper, a method for recognizing 3-D objects using the 3-D Hough transform and the robust stereo vision is studied. A 3-D object is recognized through two steps; modeling step and matching step. In modeling step, features of the object are extracted by analyzing the IGES file. In matching step, the values of the sensed image are compared with those of the IGES file which is assumed to location and orientation in the 3-D Hough transform domain. Since we use the 3-D Hough transform domain of the input image directly, the sensitivity to the noise and the high computational complexity could be significantly allcv~ated. Also, the cost efficiency is improved using the robust stereo vision for obtaining depth map image which is needed for 3-D Hough transform. In order lo verify the proposed method, real telephone model is recognized. Thc results of the location and orientation of the model are presented.

• Journal of Mechanical Science and Technology
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• v.14 no.7
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• pp.782-788
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• 2000

In this paper, we present a new approach to visual feedback control using image-based visual servoing with stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only around a desired location but also at other locations. The suggested technique can guide a robot manipulator to the desired location without providing a priori knowledge such as the relative distance to the desired location or the model of an object even when the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by experimental results and compared with conventional control methods for an assembly robot.

• Journal of Biosystems Engineering
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• v.32 no.1 s.120
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• pp.44-49
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• 2007

A stereo vision system was developed for robot milking system (RMS) using two monochromatic cameras. An algorithm for inverse perspective transformation was developed for the 3-D information acquisition of all teats. To verify performance of the algorithm in the stereo vision system, indoor tests were carried out using a test-board and model teats. A real cow and a model cow were used to measure distance errors. The maximum distance errors of test-board, model teats and real teats were 0.5 mm, 4.9 mm and 6 mm, respectively. The average distance errors of model teats and real teats were 2.9 mm and 4.43 mm, respectively. Therefore, it was concluded that this algorithm was sufficient for the RMS to be applied.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.2
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• pp.191-198
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• 2015

In this paper, six-degree-of-freedom (DoF). Displacement measurement technique using a compact stereo-vision system is proposed. The measuring system consists of a camera, an optical prism, two plane mirrors, and a planar marker on a target. The target was attached on an object so that its six-DoF displacement can be calculated using a proposed coordinates estimating algorithm and stereo images of the marker. A prototype was designed and fabricated for performance test. From the test results, it can be confirmed that the proposed measuring technique can be applied to monitoring and control of various manipulators.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.3
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• pp.71-77
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• 2008

This paper presents a stereo vision based autonomous inspection system for welding quality control of a RV(Recreational Vehicle) sinking seat. The three dimensional geometry of the welding bead, which is the welding quality criteria, is measured by using the captured stereo images with a median filter applied on it. The image processing software for the system was developed using the NI LabVTEW software with NI vision system. In the manufacturing process of a RV sinking seat, the developed system can be used for overcoming the precision error that arises from a visible inspection by an operator. The welding quality inspection system for RV sinking seat was verified using experimentation.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.743-746
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• 2003

The service robot, with stereo vision system and dual manipulator of four degree of freedom, has been designed. A fuzzy controller has been implemented for effectively actuating the manipulator of the robot. The fuzzy controller determines operation mode(single or dual manipulators) and orientation from the information of object position and distance. Through actual experimentation, we have confirmed that the robot system with human-like movement of grabber has been executed a rapid and effective motion.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.407-407
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• 2000

For acquisition of 3-Dimensional information in real space, stereo vision system is suitable. In the stereo system, 3D real world position is derived from translation of coordinates between cameras and world. Thus, to use stereo vision, it is needed to construct a precise system which provides kinematically precise translation between camera and world coordinate, in spite of intricacy and hardness. So much cost and time should be spent to build the system. In this paper, facilely to solve previous problem, a method which can easily obtain 3D informations using reference objects and RSD(Relative Stereo Disparity) is proposed. Instead of direct computation of position with translation of coordinates, only relative stereo disparity in stereo pair of image is used to find the reference depth of objects, and real 3D position is computed with initial condition of reference objects. In computation, subpixel resolution is involved to find the display for accuracy. To find the RSD, corresponding points are calculated in subpixel resolution. So the result in experiemnt will be shown that subpixel resolution is more accurate than 1 pixel resolution.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.70.1-70
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• 2001

Recently, research of visual control is getting more essential in robotic application, and acquiring 3D informations from the 2D images is becoming more important with development of vision system. For this application, we propose the effective way of controlling stereo vision tracking system for target tracking and calculating distance between target and camera. In this paper we address improved controller using dual-loop visual servo which is more effective compared with using single-loop visual servo for stereo vision tracking system. The speed and the accuracy for realizing a real time tracking are important. However, the vision processing speed is too slow to track object in real time by using only vision feedback data. So we use another feedback data from controller parts which offer state feedback ...

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.