• Journal of Welding and Joining
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• 제19권2호
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• pp.200-207
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• 2001

Three-diemnsional bead profile was measured using the biprism stereo vision sensor in GMAW, which consists of an optical filter, biprism and CCD camera. Since single CCD camera is used, this system has various advantages over the conventional stereo vision system using two cameras such as finding the corresponding points along the horizontal scanline. In this wort, the biprism stereo vision sensor was designed for the GMAW, and the linear calibration method was proposed to determine the prism and camera parameters. Image processing techniques were employed to find the corresponding point along the pool boundary. The ism-intensity contour corresponding to the pool boundary was found in the pixel order and the filter-based matching algorithm was used to refine the corresponding points in the subpixel order. Predicted bead dimensions were in broad agreements with the measured results under the conditions of spray mode and humping bead.

• Journal of Advanced Marine Engineering and Technology
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• 제36권5호
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• pp.674-682
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• 2012

A new intelligent stereo vision sensor system was studied for the motion and depth control of unmanned vehicles. A new bottom-up saliency map model for the human-like active stereo vision system based on biological visual process was developed to select a target object. If the left and right cameras successfully find the same target object, the implemented active vision system with two cameras focuses on a landmark and can detect the depth and the direction information. By using this information, the unmanned vehicle can approach to the target autonomously. A number of tests for the proposed bottom-up saliency map were performed, and their results were presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2200-2202
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• 1998

Autonomous mobile robot provide many functions such as sensing, processing, and driving. For more intelligent jobs, more intelligent functions are to be added and the existing functions may be updated. To execute a job autonomous mobile robot has a information of surrounding environment. So, robot uses sonar sensor, vision sensor and so on. Obtained sensor information is used map generation. This paper is focused on map generation using stereo vision system.

• 센서학회지
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• 제6권2호
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• pp.123-130
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• 1997

이 논문은 다음과 같은 두가지 요소로 구성되는 독창적인 stereo vision system을 논술한다. declivity라는 새로운 개념을 도입한 자동선택 영상 분할처리 (self-adaptive image segmentation process) 와 자동선택 결정변수 (self-adaptive decision parameters) 를 응용하여 설계된 신속한 stereo matching algorithm. 현재, 실내 image의 depth map을 완성하는데 SUN-IPX 에서 3sec가 소요되나 연구중인 DSP Chip의 조합은 이 시간을 1초 이하로 단축시킬 수 있을 것이다.

• 로봇학회논문지
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• 제4권4호
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• pp.298-304
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• 2009

This paper describes an algorithm that improves 3D reconstruction result using a multi-sensor fusion disparity map. We can project LRF (Laser Range Finder) 3D points onto image pixel coordinatesusing extrinsic calibration matrixes of a camera-LRF (${\Phi}$, ${\Delta}$) and a camera calibration matrix (K). The LRF disparity map can be generated by interpolating projected LRF points. In the stereo reconstruction, we can compensate invalid points caused by repeated pattern and textureless region using the LRF disparity map. The result disparity map of compensation process is the multi-sensor fusion disparity map. We can refine the multi-sensor 3D reconstruction based on stereo vision and LRF using the multi-sensor fusion disparity map. The refinement algorithm of multi-sensor based 3D reconstruction is specified in four subsections dealing with virtual LRF stereo image generation, LRF disparity map generation, multi-sensor fusion disparity map generation, and 3D reconstruction process. It has been tested by synchronized stereo image pair and LRF 3D scan data.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.454-457
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• 2004

AGV for FMS must be detected an obstacle. Therefore, many studies have been advanced, and recently, the ultra sonic sensor is used for this. However, the new method has to be developed because the ultra-sonic-sensor has many problems as a noise in factory, an directional error and detection of the obstacle size. So, we study the fast stereo vision system that can give more information to obstacles for intelligent AGV system. For this, the simulated AGV system was made with two CCD cameras in front to get the stereo images, and the threshold process by color information (intensity and chromaticity) and structure stereo matching method were constructed.

• 한국전자통신학회논문지
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• 제14권4호
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• pp.679-684
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• 2019

CAFFE 모델을 이용하여 클래스의 특정 종의 수량 측정하는 방법과 스테레오 비전을 이용하여 물체의 길이와 너비를 측정하는 방법을 제안한다. 물체의 너비를 구하는 방법은 좌측 센서와 우측 센서의 대상의 좌표 값을 비교하여 센서부터 물체까지의 거리를 계산한다. 그 후 거리와 영상 속의 대상의 길이를 구해 물체의 실제 길이의 근사 값을 계산한다.

• 한국항행학회논문지
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• 제17권3호
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• pp.354-360
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• 2013

모션 및 무인 차량의 깊이 제어를 위해 스테레오 비전 분석을 하였다. 스테레오 비전에서 3차원 좌표의 깊이 정보는 스테레오 이미지 사이의 포인트를 식별한 후 삼각 측량을 통해 얻을 수 있다. 그러나 항상 몇몇 이유 때문에 삼각 측량의 오류가 발생한다. 비전 삼각 측량의 이러한 오류는 카메라의 위치와 방향에 주의하여 배열함으로써 완화 될 수 있다. 본 논문에서는 무인 차량을 위해 카메라의 최적의 위치와 방향을 결정하는 방법을 제시하였다.

• 한국산학기술학회논문지
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• 제14권5호
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• pp.2400-2405
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• 2013

본 연구에서는 스테레오비전 센서의 거리 정보와 컬러이미지를 합성하여 일정 거리 안에 있는 장애물을 탐색하는 방법을 제시하였다. 스테레오 비전 센서로 부터 취득한 깊이이미지(depth image)를 이용하여 거리 정보를 구하고 컬러 이미지와의 합성을 통해 모바일로봇 이동에 방해되는 장애물을 검출하였다. 검출된 장애물 정보는 모바일 로봇에 송신되어 무인이동장치로써 지역을 탐색하게 하여 깊이이미지 응용에 적용가능성을 평가하였다. 스테레오 비전 센서를 이용하는 무인이동장치의 성능을 평가하기 위해 장애물간의 거리에 대한 성능 평가를 하고 컬러이미지, 깊이이미지 그리고 합성이미지 유형에 따른 성능과 취득된 이미지 프레임의 수에 따른 성능도 살펴보았다. 처리 결과 깊이이미지에 비해 합성된 이미지가 개선된 성능을 보였다.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.240-247
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• 2013

This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.