• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.257-259
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• 1996

This paper presents the active eye system for tracking a moving object in 3D space. A prototype system able to track a moving object is designed and implemented. The mechanical system ables the control of platform that consists of binocular camera and also the control of the vergence angle of each camera by step motor. Each camera has two degrees of freedom. The image features of the object are extracted from complicated environment by using zero disparity filtering(ZDF). From the cnetroid of the image features the gaze point on object is calculated and the vergence angle of each camera is controlled by step motor. The Proposed method is implemented on the prototype with robust and fast calculation time.

• Journal of Broadcast Engineering
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• v.9 no.1
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• pp.91-94
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• 2004

The vergence controls of the parallel stereoscopic camera need only the disparity information of left and right images in horizontal direction. This paper proposed past and precise disparity value for stereoscopicimage pair in horizontal direction and the algorithm which can abstract disparity information through the HCF(Hybrid Cepstral Filter) for sign information. The proposed disparity information- extracting algorithm can obtain accurate disparity value of horizontal direction and signinformation by using both the one dimension cepstral filter which uses vertical projection data of left and right Image and the two dimension cepstral filter which uses down sampled image.

• The KIPS Transactions:PartD
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• v.10D no.2
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• pp.337-342
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• 2003

In this paper, a web based remote control system located at too dangerous field to access for the worker. The system was designed and implemented for three-dimensional stereo camera connected to web server which can be controlled easily by client side person working in the safe monitoring room. The user in the client side can control the vergence/focus control and zoom-in/out and pan/tilt functions through an user interface. The user interface for remote control environment was designed and implemented with Java applet mechanism, and was tested the operation result of the system.

• Proceedings of the Optical Society of Korea Conference
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• 2006.07a
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• pp.467-468
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• 2006

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.90-95
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• 2000

This paper presents the vergence control of a parallel stereo camera and its application to underwater stereo camera to enhance the working efficiency of underwater vehicles that equips with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get a clear stereo vision with the camera for all the range of objects in air and in water, especially in short range objects. The control system of the camera is so simple that we are able to realize a small stereo camera system and to apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain the three-dimensional images and the distance information in real-time.

• Journal of Broadcast Engineering
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• v.7 no.3
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• pp.211-218
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• 2002

This paper introduces the HD 3DTV camera and 3DTV receiver that are compatible with the ATSC HDTV broadcasting system. The developed 3DTV camera is based on stereoscopic techniques, and it has control function to control both left and right zoom lens simultaneously and to control the vergence. Moreover, in order to control the vergence manually and to eliminate the synchronization problem of the both images, the 3DTV camera has the 3DTV video multiplexing function to combine the left and right images into the single image. The developed 3DTV signal, and it has the various analog/digital interfaces. The performance of the developed system is confirmed by shooting the selected soccer game in 2002 FIFA KOREA/JAPANTM World Cup and by broadcasting the match. The HD 3DTV camera and receiver will be applied to the 3DTV industries such as 3D movie, 3D game, 3D image processing, 3DTV broadcasting system, and so on.

• Proceedings of the Korean Information Science Society Conference
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• 2000.04b
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• pp.547-549
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• 2000

버전스 눈동자 운동은 사람과 스테레오 시각을 가진 척추동물로 하여금 양안에 의해 응시점이 맞추어진 관심있는 물체까지의 떨어진 거리를 인식할 수 있도록 해준다. 이러한 버전스 눈동자 운동을 양안 헤드아이 로봇에 구현하기 위해서, 우리는 disparity flow와 flux를 이용하는 제어 모델을 개발하였다. 실험 및 결과 분석은 본 모델이 다양한 환경에서의 버전스 눈동자 운동을 효율적으로 제어할 수 있음을 보여준다. 인식-행동 주기가 실시간 프레임율에 근접하게 되면, disparity flow와 flux의 정확도는 증가되고 헤드아이 로봇의 버전스 눈운동을 더욱 정밀하게 제어하는 것이 가능해질 것이다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.4
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• pp.15-20
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• 2010

The three dimensional information is extracted and visualized using by stereo images of the object and the method for a 3D stereoscopic image is presented by the vergence control algorithm. The matching, which is applied a undistortion of lens and the energy function, is executed for the efficient extraction three dimensional information. Especially, applying the optimized method of matched line to the multi direction of the disparity imges. The disadvantages of multi directional method and reliability expansion method is collected. The matched interesting range of the three dimensional information is visualized using by VRML and more 3D stereoscopic image is visualized through the vergence control according to distance of the object. more improved three dimensional information is provided to observer by visualizing both of them at the same time.

• Journal of the Optical Society of Korea
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• v.6 no.4
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• pp.150-155
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• 2002

Horizontally-moving method (HMM) stereoscopic camera has a liner relationship between ver-gence and focus control. We introduced the automatic control method for a stereoscopic camera system that uses the relationship between vergence and focus of an HMM stereoscopic camera. the Automatic control method uses disparity compensation of the acquired image pair from the stereoscopic camera. For faster extraction of disparity information, the proposed binocular dispar-ity estimation method by the one-dimensional cepstral filter algorithm would be investigated. The suggested system in this study substantially reduced the controlling time and error-ratio so as to make it possible to achieve natural and clear images.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.425-436
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• 2011

Purpose : The purpose of this study is to identify static, dynamic balance performances and foot pressure after eye movement exercise in normal adults. Method : This study was performed on normal 18 males and 18 females subjects. They were divided into 3 groups using random sampling and executed saccadic eye movement, vestibuloocular eye movement, pursuit vergence eye movement exercise respectively. In order to compare the difference of balance and foot pressure, the subjects were measured before, middle and after eye movement. Balance was examined using the balance master 7.0 version systems. Foot pressure was examined using the gaitview AFA-50. Result : The result are as follows. 1. After first intervention, the difference of the FORM-EC item on MCTSIB variable in the vestibuloocular group was significantly decreased(p<.05) and after second intervention, the difference of the FIRM-EO(p<.05), FORM-EO(p<.01), FORM-EC(p<.01) items on MCTSIB variable in the saccadic group and FORM-EC(p<.05) item in the vestibuloocular group were significantly decreased respectively. 2. After first intervention, the difference of the EPE, MXE items in the saccadic group(p<.05) and RT(p<.05), EPE(p<.01) items in the pursuit vergence group were significantly decreased respectively after second intervention. 3. After first intervention, the difference of the Static A-P(p<.05), L-R(p<.01) and Dynamic A-P(p<.01), L-R (p<.01) items on foot pressure variable in the saccadic group, Dynamic A-P(p<.01) item in the vestibuloocular group and Static A-P(p<.01), Dynamic A-P(p<.05), L-R(p<.01) items in the pursuit vergence group were significantly decreased respectively. 4. After first intervention, the difference of the FORM-EO(p<.05), FORM-EC(p<.01) items and after second intervention, the difference of the FIRM-EO(p<.01) item on MCTSIB variable among three groups was significantly decreased respectively. Conclusion : Selective eye movement exercise program influences balance control ability and foot pressure of normal adults in positive ways.