• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.5
• /
• pp.496-504
• /
• 2009

This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

• Proceedings of the KIEE Conference
• /
• 2003.11b
• /
• pp.103-106
• /
• 2003

In this paper, we present a hybrid inertial and vision-based tracking system for VR applications. One of the most important aspects of VR (Virtual Reality) is providing a correspondence between the physical and virtual world. As a result, accurate and real-time tracking of an object's position and orientation is a prerequisite for many applications in the Virtual Environments. Pure vision-based tracking has low jitter and high accuracy but cannot guarantee real-time pose recovery under all circumstances. Pure inertial tracking has high update rates and full 6DOF recovery but lacks long-term stability due to sensor noise. In order to overcome the individual drawbacks and to build better tracking system, we introduce the fusion of vision-based and inertial tracking. Sensor fusion makes the proposal tracking system robust, fast, accurate, and low jitter and noise. Hybrid tracking is implemented with Kalman Filter that operates in a predictor-corrector manner. Combining bluetooth serial communication module gives the system a full mobility and makes the system affordable, lightweight energy-efficient. and practical. Full 6DOF recovery and the full mobility of proposal system enable the user to interact with mobile device like PDA and provide the user with natural interface.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.70.1-70
• /
• 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
• /
• 2000.10a
• /
• pp.408-408
• /
• 2000

A parabolic dish concentrator used in a high temperature application of solar energy tracks the sun's movement by two axis sun tracking system. In such a system, sun tracking performance affects the system efficiency directly. Generally the higher the tracking accuracy is, the better the system performance is. A large number of parabolic dish type concentrators has been developed and implemented in the world. However none of them clearly provided a qualitative method of how the accuracy of the sun tracking system can be evaluated. The work presented here is the evaluation of sun tracking performance of parabolic dish concentrator, which follows the sun's movement by the sensor, using computer vision system. We install a camera on the parabolic dish concentrator. While the concentrator follows the sun, sun's images are captured continuously. Then the performance of sun tracking system was evaluated by analyzing the variation of the position of the sun in the images.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.5
• /
• pp.14-23
• /
• 2007

Welding fabrication invariantly involves three district sequential steps: preparation, actual process execution and post-weld inspection. One of the major problems in automating these steps and developing autonomous welding system is the lack of proper sensing strategies. Conventionally, machine vision is used in robotic arc welding only for the correction of pre-taught welding paths in single pass. However, in this paper, multipass tracking more than single pass tracking is performed by conventional seam tracking algorithm and developed one. And tracking performances of two algorithm are compared in multipass tracking. As the result, tracking performance in multi-pass welding shows superior conventional seam tracking algorithm to developed one.

• Journal of Welding and Joining
• /
• v.14 no.4
• /
• pp.79-88
• /
• 1996

For improvement in productivity and weld quality, weld seam tracking and welding parameter control are very essential in the welding of a structure which can not be cxactly fit-up due to mismatch, discontinous gap, deflection, etc.. In this study, an automatic weld seam tracking system is developed for I-butt joint structure, and the system consists of XYZ working table, vision sensor and user interface program. In the developed vision sensor system, an image projection algorithm for weld-line detection and an adaptive current control algorithm for gap variation were implemented. The user interface program developed in this study by basing on the objct oriented concept could provide very convenient way to utilize the tracking system with the pull-down menu driven structure. The developed system showed a good seam tracking and weld quality control capability corresponding to deflected weld lines and gap variations.

• International Journal of Advanced Culture Technology
• /
• v.4 no.4
• /
• pp.81-86
• /
• 2016

In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.5
• /
• pp.557-562
• /
• 2014

It is well known that solar tracking systems can increase the efficiency of exiting solar panels significantly. In this paper, a hybrid solar tracking system has been developed by using both astronomical estimates from a GPS and the image processing results of a camera vision system. A decision making process is also proposed to distinguish current weather conditions using camera images. Based on the decision making results, the proposed hybrid tracking system switches two tracking control methods. The one control method is based on astronomical estimates of the current solar position. And the other control method is based on the solar image processing result. The developed hybrid solar tracking system is implemented on an experimental platform and the performance of the developed control methods are verified.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.915-919
• /
• 2003

This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.1
• /
• pp.9-18
• /
• 2007

There have been continuous efforts for automation of joint tracking system. This automation process is mainly used to do in root pass of gas metal arc welding in the field of heavy industry and shipbuilding etc. For automation, it is important using of vision sensor. Welding robot with vision sensor is used for weld seam tracking on welding fabrication. Recently, it is used to on post-weld inspection for weld quality evaluation. For real time seam tracking, it is very important role in vision process technique. Vision process is included in filtering and thinning, segmentation processing, feature extraction and recognition. In this paper, it has shown performance comparison results of seam tracking for real time root pass on gas metal arc welding. It can be concluded better segment splitting method than iterative averaging technique in the performance results of seam tracking.