• 조명전기설비학회논문지
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• 제24권12호
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• pp.122-130
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• 2010

This paper presents an active ranging system based on laser structured-light image. The structured-light image processing is computationally efficient in comparison with the conventional stereo image processing, since the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise, an efficient image processing algorithm, i.e., integration of difference images with structured-light modulation is proposed. Distance equation from the measured structured light pixel distance and system parameter calibration are addressed in this paper. Experiments and analysis are carried out to verify performance of the proposed ranging system.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.145-148
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• 2011

In this paper, we proposed a search method for structured light pixels of omnidirectional structured light image. Since the omnidirectional structured light image is composed of several circular arc segments, the proposed algorithm searches the structured light pixels in radial direction rather than horizontal or vertical directions. The proposed search algorithm is based on the well-known Bresenham raster algorithm for line drawing in discrete integer space, thereby computation of the algorithm is very efficient. Comparison results between the proposed search algorithm and the conventional horizontal search are presented in experiments.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2008년도 춘계 종합학술대회 논문집
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• pp.15-18
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• 2008

본 논문은 구조 광 영상을 이용하여 3차원 얼굴을 복원하는 방법을 제안한다. 프로젝터와 카메라의 시선벡터가 평행하다고 가정한다. 먼저 격자 형태의 구조 광을 배경에 투영하고 참조 구조 광 영상을 획득한다. 참조 구조 광 영상을 사용하여 카메라와 프로젝터를 보정한다. 이후 사람의 얼굴에 동일한 형태의 구조 광을 투영하고 얼굴 구조 광 영상을 획득한다. 획득한 두 종류의 구조 광 영상에서 추출된 특징 점들의 위치 변화를 측정하고 측정된 변화량으로 3차원 얼굴을 복원 한다. 실험 결과를 보면, 이런 간단한 장치를 통해 사람이 인식할 수 있을 정도의 3차원 얼굴 영상을 얻을 수 있음을 알 수 있다.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.309-314
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• 2015

In this study, an embedded ranging system based on a laser structured light image is developed. The distance measurement by the structured light image processing has efficient computation because the burdensome correspondence problem is avoidable. In order to achieve robustness against environmental illumination noise and real-time laser structured light image processing, a bandpass optical filter is adopted in this study. The proposed ranging system has an embedded image processor performing the whole image processing and distance measurement, and so reduces the computational burden in the main control system. A system calibration algorithm is presented to compensate for the lens distortion.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2007년도 추계 종합학술대회 논문집
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• pp.248-251
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• 2007

본 논문은 3차원 얼굴 영상을 복원하기 위해 구조 광(structured light) 영상에서 2차원 메쉬를 추정하는 방법을 제안한다. 프로젝터를 사용하여 얼굴에 구조 광을 투영하고 카메라로 찍어 구조 광 영상을 획득한다. 획득한 영상에서 투영된 격자점을 추출한다. 격자점들의 위치와 각도를 사용하여 2차원 메쉬를 추출한다. 추출 과정에서 발생한 오류를 편집하고 정확한 2차원 메쉬를 추출한다.

• 대한전자공학회논문지
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• 제26권7호
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• pp.30-41
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• 1989

본 논문은 이동 로보트가 실제 환경속에서 주행할 수 있도록 하기 위한 간단한 structured light 센서의 개발과 이용에 관한 연구로써, 이동로보트에 이 센서를 부착하였을 경우 그 적용범위는 첫째, 복잡한 3차원 물체들 속에서의 실시간 주행경로 주변 물체의 모델링과 인식을 위한 것으로 나뉠 수 있다. 개발된 센서가 갖추고 있는 데이타 습득 속도와 정확도는 실용화 하기에 충분하며, 여러 다양한 상황속에서의 실험을 통하여 이를 확인하였다.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.479-486
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• 2012

In this paper, a ranging system is proposed that is able to measure 360 degree omnidirectional distances to environment objects. The ranging system is based on the structured light imaging system with catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured light image processing algorithms are developed; sequential integration of difference images with modulated structured light and radial search based on Bresenham line drawing algorithm. A dedicated FPGA image processor is developed to speed up the overall image processing. Also the distance equation is derived in the omnidirectional imaging system with a hyperbolic mirror. It is expected that the omnidirectional ranging system is useful for mapping and localization of mobile robot. Experiments are carried out to verify the performance of the proposed ranging system.

• 제어로봇시스템학회논문지
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• 제16권8호
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• pp.751-755
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• 2010

In this paper, we proposed an omnidirectional ranging system that is able to obtain $360^{\circ}$ all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.

• International Journal of Internet, Broadcasting and Communication
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• 제11권4호
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• pp.49-58
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• 2019

3D scanners are needed in various fields, and their usage range is greatly expanded. In particular, it is being used to reduce costs at various stages during product development and production. Now, the importance of quality inspection in the manufacturing industry is increasing. Structured optical system applied in this study is suitable for measuring high precision of mold, press work, precision products, etc. and economical and effective 3D scanning system for measuring inspection in manufacturing industry can be implemented. We developed Structured light 3D scanner which can measure high precision by using Digital Light Processing (DLP) projector and camera. In this paper, 3D image scanner based on structured optical system can realize 3D scanning system economically and effectively when measuring inspection in the manufacturing industry.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.93-96
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• 1996

Structured laser light is a widely used method for obtaining 3D range information in Machine Vision. However, The structured laser light method is based on assumption that the surface of objects is Lambertian. When the observed surfaces are highly specularly reflective, the laser light can be detected in various parts on the image due to a specular reflection and secondary reflection. This makes wrong range data and the image sensor unusable for the specular objects. To discriminate wrong range data from obtained image data, we have proposed a new algorithm by using the cross section of image block. To show the performance of the proposed method, a series of experiments was, carried out on: the simple geometric shaped objects. The proposed method shows a dramatic improvement of 3D range data better than the typical structured laser light method.