• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.8-16
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• 2016

In the field of computer vision and robotics, bin picking is an important application area in which object pose estimation is necessary. Different approaches, such as 2D feature tracking and 3D surface reconstruction, have been introduced to estimate the object pose accurately. We propose a new approach where we can use both 2D image features and 3D surface information to identify the target object and estimate its pose accurately. First, we introduce a label detection technique using Maximally Stable Extremal Regions (MSERs) where the label detection results are used to identify the target objects separately. Then, the 2D image features on the detected label areas are utilized to generate 3D surface information. Finally, we calculate the 3D position and the orientation of the target objects using the information of the 3D surface.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• Journal of Information Technology Applications and Management
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• v.23 no.2
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• pp.225-238
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• 2016

The purpose of this study is to develop cyber class contents on website and to verify the effectiveness of the program to reinforce a career education. The participants of the experiment in this study are from Namseoul University who took the cyber class 'Self management and creation of vision.' of the second semester in 2015. They took the class fifty-sixty minutes a week. The control group also includes the students who took the classes 'Theory and practice of school violence prevention' and 'Youth Education theory.' To verify the effectiveness of career education, the data processing in performing this study utilized t-test for homogeneity with the effective variable of career identity and career decision and the result was proved by using paired t-test. The result suggests that the experiment group significantly shows improvement compared with the control group in the view of career identity and career decision level. Therefore we recognize that the web based cyber course has its effect on content development and career education and we anticipate the continuous development and activation of effective cyber education on website for university students in future.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1051-1056
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• 2014

In this paper, we introduce an intelligent robotic arc welding system which exploits sensors like as LVS (Laser Vision Sensor), Hall effect sensor, voltmeter and so on. The use of industrial robot is saturated because of its own limitation, and one of the major limitations is that industrial robot cannot recognize the environment. Lately, sensor-based environmental awareness research of the industrial robot is performed actively to overcome such limitation, and it can expand application field and improve productivity. We classify the sensor-based intelligent arc welding robot system by the goal and the sensing data. The goals can be categorized into detection of a welding start point, tracking of a welding line and correction of a torch deformation. The Sensing data can be categorized into welding data (i.e. current, voltage and short circuit detection) and displacement data (i.e. distance, position). This paper covers not only the explanation of the each category but also its advantage and limitation.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.6
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• pp.565-574
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• 2015

Recently, a medium-level representation named "Stixel" has been extensively researched in stereo vision-based environmental perception. Obstacle detection using Stixel representation consists of three steps: static Stixel generation, dynamic Stixel generation, and Stixel segmentation. This paper focuses on the Stixel segmentation step and has two contributions. One is that it shows that Stixel segmentation performance can be enhanced by utilizing both image domain and real world domain features. The other is that it suggests that parameters used for Stixel segmentation can be effectively tuned based on genetic algorithm. The proposed method was quantitatively evaluated and the result showed that the proposed method increased Stixel segmentation accuracy compared with the previous method.

• Journal of the Korea institute for structural maintenance and inspection
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• v.27 no.2
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• pp.58-66
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• 2023

In this study, cable tension was measured using the vibration method, and a vision-based system was applied as a sensor to measure the displacement response of a cable in a non-contact method. In the vision-based system, the camera is installed in a location that considers the target structure and the field of view of the camera. However, it can be difficult to recognize the control points required to measure the displacement response of a structure as the target structure and other structures such as vehicles may be included in the image at the intended installation location. In this study, a distorted image including a vehicle shows inaccurate results in image analysis due to the installation position of the vision-based system. Accordingly, the image including the vehicle was eliminated by calculating the similarity between the two images. To verify the validity of the method of estimating the cable tension of cable-stayed bridges using the proposed method, the vibration method was applied to cable-stayed bridges in service to measure the tension.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1945-1948
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• 2004

This paper describes the design and construction of a micro robotic system addressing such important aspects as versatility and low cost for rapid development and test of new control algorithm. The design and structure of micro robots are presented in detail. The supervision oriented concept is designed for controlling a group of micro robots. In this concept, the vision system recognizes the environment and the host computer decides the micro robot action based on the information from the vision system. In addition, the micro robots can be implemented cheaply and small in size because the structure of supervision oriented system is simplest. The experimental results and the performance of the proposed micro robotic system are discussed.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.2
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• pp.133-140
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• 2017

In this paper, we has proposed an automatic vehicle monitoring system based on computer vision technology. The real-time display system has displayed a system that can be performed in automatic monitoring and control while meeting the essential requirements of ITS. Another advantage has that for a powerful vehicle tracking, the main obstacle handing system, which has the shadow tracking of moving objects. In order to obtain all kinds of information from the tracked vehicle image, the vehicle must be clearly displayed on the surveillance screen. Over time, it's necessary to precisely control the vehicle, and a three-dimensional model-based approach has been also necessary. In general, each type of vehicle has represented by the skeleton of the object or wire frame model, and the trajectory of the vehicle can be measured with high precision in a 3D-based manner even if the system has not running in real time. In this paper, we has applied on segmentation method to vehicle, background, and shadow. The validity of the low level vehicle control tracker was also detected through speed tracking of the speeding car. In conclusion, we intended to improve the improved tracking method in the tracking control system and to develop the highway monitoring and control system.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1908-1909
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• 2011

Hand gesture recognition has been widely used in virtual reality and HCI (Human-Computer-Interaction) system, which is challenging and interesting subject in the vision based area. The existing approaches for vision-driven interactive user interfaces resort to technologies such as head tracking, face and facial expression recognition, eye tracking and gesture recognition. The purpose of this paper is to combine the finite state machine (FSM) and the gesture recognition method, in other to control Windows Media Player, such as: play/pause, next, pervious, and volume up/down.