• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.923-928
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• 1990

This paper describes the design and implementation of a real-time, high-precision vision system and its application to SMT(surface mounting technology) automation. The vision system employs a 32 bit MC68030 as a main processor, and consists of image acquisition unit. DSP56001 DSP based vision processor, and several algorithmically dedicated hardware modules. The image acquisition unit provides 512*480*8 bit image for high-precision vision tasks. The DSP vision processor and hardware modules, such as histogram extractor and feature extractor, are designed for a real-time excution of vision algorithms. Especially, the implementation of multi-processing architecture based on DSP vision processors allows us to employ more sophisticated and flexible vision algorithms for real-time operation. The developed vision system is combined with an Adept Robot system to form a complete SMD system. It has been found that the vision guided SMD assembly system is able to provide a satisfactory performance for SND automation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.101-104
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• 1987

This paper shows the robot-vision system which consists of robot, vision system, single board computer and IBM-PC. IBM-PC based system has a great flexibility in expansion for a vision system interfacing. Easy human interfacing and great calculation ability are the benefits of this system. It was carried to interface between each component. The calibration between two coordinate systems is studied. The robot language for robot-vision system was written in "C" language. User also can write job program in "C" language in which the robot and vision related functions reside in the library.side in the library.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• 한국정보통신학회논문지
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• 제13권8호
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• pp.1601-1607
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• 2009

비전 시스템은 카메라를 통하여 획득한 이미지 정보를 캡쳐 후, 이를 분석하여 물체를 인식하는 것으로서, 차종 분류를 포함 한 다양한 산업현장에서 사용하고 있다. 이런 필요성으로 인하여 차종 분류를 위한 많은 연구가 이루어지고 있으나 복잡한 계산과정으로 인하여 처리 시간이 많이 소요되는 단점이 있다. 본 논문에서는 임베디드 시스템을 기반으로 하는 Vision Box를 설계하고 이를 사용한 차종인식 시스템을 제안하였다. 제안한 Vision Box의 성능을 자동차의 차종분류를 통한 사전 테스트 결과 최적 화된 환경 조건에서는 100%의 차종별 인식률을 보였으며, 조명 및 회전의 작은 변화에 따른 테스트에서 차종인식은 가능하였으나, 패턴점수가 낮아졌다. 제안한 Vision Box 시스템을 산업 현장에 적용한 결과 처리시간, 인식률 등에서 산업체의 요구 조건을 만족 할 수 있음을 확인할 수 일었다.

• 전자공학회논문지
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• 제52권3호
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• pp.13-18
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• 2015

본 논문은 GNSS의 문제점인 위치오차와 실외음영지역을 해소하기 위하여 GNSS와 vision system을 융합한 신뢰성있는 고정밀 측위와 최적의 vision system을 분석하였다. 위치결정을 위해서는 최소 4개 이상의 GNSS로부터 신호를 수신 받아야 한다. 그러나 도심지역에서는 고층건물이나 장애물 또는 반사파에 의해 정확한 위치가 어렵다. 이러한 문제점을 해결하기 위하여 vision system을 이용한다. GNSS를 사용하기 열악한 도심지역의 target object에 정확한 위치 값을 결정해 놓는다. 그리고 vision system을 이용해 target object를 인식하고, 인식된 target object를 이용하여 위치오차를 보정해 준다. 이동체는 이동 중 vision system을 이용하여 target object를 인식하여 위치 데이터 값을 만들어내고, 위치 계산을 수정하여 안정되고 신뢰성 있는 고정밀 측위를 할 수 있다.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권10호
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• pp.620-629
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• 2005

In this paper, a new protocol-based approach was proposed for development of a ubiquitous vision system. It is possible to apply the approach by regarding the ubiquitous vision system as a multiagent system. Thus, each vision sensor can be regarded as an agent (vision agent). Each vision agent independently performs exact segmentation for a target by color and motion information, visual tracking for multiple targets in real-time, and location estimation by a simple perspective transform. Matching problem for the identity of a target during handover between vision agents is solved by the Identified Contract Net (ICN) protocol implemented for the protocol-based approach. The protocol-based approach by the ICN protocol is independent of the number of vision agents and moreover the approach doesn't need calibration and overlapped region between vision agents. Therefore, the ICN protocol raises speed, scalability, and modularity of the system. The protocol-based approach was successfully applied for our ubiquitous vision system and operated well through several experiments.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.496-504
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• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.68-73
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• 2005

Various techniques have been proposed for detection and tracking of targets in order to develop a real-world computer vision system, e.g., visual surveillance systems, intelligent transport systems (ITSs), and so forth. Especially, the idea of distributed vision system is required to realize these techniques in a wide-spread area. In this paper, we develop a ubiquitous vision system for location-awareness of multiple targets. Here, each vision sensor that the system is composed of can perform exact segmentation for a target by color and motion information, and visual tracking for multiple targets in real-time. We construct the ubiquitous vision system as the multiagent system by regarding each vision sensor as the agent (the vision agent). Therefore, we solve matching problem for the identity of a target as handover by protocol-based approach. We propose the identified contract net (ICN) protocol for the approach. The ICN protocol not only is independent of the number of vision agents but also doesn't need calibration between vision agents. Therefore, the ICN protocol raises speed, scalability, and modularity of the system. We adapt the ICN protocol in our ubiquitous vision system that we construct in order to make an experiment. Our ubiquitous vision system shows us reliable results and the ICN protocol is successfully operated through several experiments.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.95-101
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• 2013

The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.608-612
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• 1990

The robot system which can handle a stream of randomly positioned parts on a conveyor belt system, is developed. It is composed of a PUMA 560 robot, a conveyor belt system and a vision system. The performance of the overall system is mainly dependent upon the robot and vision system interface technique. A vision algorithm is developed to determine the position, orientation and type of the part. Calibration procedure and the vision-to-robot transformation are also proposed. Experimental results are then presented and discussed.