• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.368-372
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• 2009

Pin-hole model has been widely used as a robust tool for easily understanding how to obtain a stereo image and how to present the depth-cue to an observer in stereoscopy. However, most of the processes to analyze depth cue in stereoscopy are performed that a stereo image is taken by camera model practically but depth cue of the image is analyzed by pin-hole model. Therefore, the result of depth cues by the process to be uncorrected. The reason of the uncorrected depth cue is led to the image distances of camera model due to variable focused object distances, and it makes a depth distortion. In this paper, we tried to show the contradiction such as occurring depth distortion in the process which the pin-hole model is used to analyze depth cue despite practical camera model is used in stereoscopy, and we presents the method to overcome the contradiction.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1080-1087
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• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1999.12a
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• pp.493-505
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• 1999

Zoom lens camera calibration is an important and difficult problem for two reason at least. First, the intrinsic parameters of such a camera change over time, it is difficult to calibration them on-line. Secondly, the pin-hole model for single lens system can not be applied directly to a zoom lens system. In this paper, We address some aspects of this problem.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.1-7
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• 1996

This paper addresses the control problem of a mobile robot supporting a task robot with needs to be positioned precisely. The main difficulty residing in the precise control of a mobile robot supporting a task robot is providing an accurate and stable base for the task robot. That is, the end-plate of the mobile robot which is the base of the task robot can not be positioned accurately without external position sensors. This difficulty is resolved in this paper through the vision information obtained from the camera attached at the end of a task robot. First of all, the camera parameters were measured by using the images of a fixed object captured by the camera. The measured parameters include the rotation, the position, the scale factor, and the focal length of the camera. These parameters could be measured by using the features of each vertex point for a hexagonal object and by using the pin-hole model of a camera. Using the measured pose(position and orientation) of the camera and the given kinematics of the task robot, we calculate a pose of the end-plate of the mobile robot, which is used for the precise control of the mobile robot. Experimental results for the pose estimations are shown.

• Journal of Sensor Science and Technology
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• v.14 no.4
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• pp.278-285
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• 2005

This paper describes techniques of camera calibration and artificial landmarks detection for the automatic charging of a mobile robot, equipped with a fish-eye camera in the direction of its operation for movement or surveillance purposes. For its identification from the surrounding environments, three landmarks employed with infrared LEDs, were installed at the charging station. When the robot reaches a certain point, a signal is sent to the LEDs for activation, which allows the robot to easily detect the landmarks using its vision camera. To eliminate the effects of the outside light interference during the process, a difference image was generated by comparing the two images taken when the LEDs are on and off respectively. A fish-eye lens was used for the vision camera of the robot but the wide-angle lens resulted in a significant image distortion. The radial lens distortion was corrected after linear perspective projection transformation based on the pin-hole model. In the experiment, the designed system showed sensing accuracy of ${\pm}10$ mm in position and ${\pm}1^{\circ}$ in orientation at the distance of 550 mm.

• Journal of Astronomy and Space Sciences
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• v.23 no.3
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• pp.289-302
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• 2006

For a reconstruct draft of the Gyupyo (Gnomon) in King Sejong Era, we collected a lot of documents of the Chosen Dynasty. With the result we made a reduced model by 1/10 and drawing set for the Gnomon in Sejong Era. It is composed of the Gyu, Yongpyo, Hoengryang (a beam), Yeongbu and granitic prop. You can read the scale where the shadow of vertically-standing stick touches the horizontal Gyu. A Shadow-Define. (Yeongbu) was used to focus the shadow cast by the sun's center, measuring the (gnomon) shadow length precisely. A Yeongbu is made of a leaf of copper in the middle of which is pierced a pin-hole for the tiny optical image of the sun which tilted to face the incident sunlight, used the principle of the a pin-hole camera and Scheimplug principle.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.5
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• pp.212-219
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• 2002

In this paper, the epipolar geometry, genera17y used as a pin-hole camera model, is newly adapted to our proposed method that enables the affine reconstruction of the 3D object from two projected views. The proposed method models the projective projection of inherent X-ray imaging system, obviates the need to attach artifirially constructed material on the body, and requires none of the prior-knowledge regarding to intrinsic and extrinsic parameters of two X-ray imaging systems. The optimum numerical solution is obtained by applying the least mean square estimator to corresponding points on two projected X-ray planes. The performance of this proposed method is Quantitatively analyzed using computer synthesized model of Cochlear implantation electrodes. In simulated experiments, the propnsed method is insensitive to the added random noise, the scaling factor change, the center point change, and rotational angular change between two projection planes, as well as enables the stable 3D reconstruction in least square sense even in worst testing cases.

• Journal of the Korean Society for Nondestructive Testing
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• v.30 no.3
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• pp.181-193
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• 2010

The paper presents an alternative way to classical stereocorrelation. First, 2D image processing of random patterns is described. Sub-pixel displacements are determined using phase analysis. Then distortion evaluation is presented. The distortion is identified without any assumption on the lens model because of the use of a grid technique approach. Last, shape measurement and shape variation is caught by fringe projection. Analysis is based on two pin-hole assumptions for the video-projector and the camera. Then, fringe projection is coupled to in-plane displacement to give rise to 3D measurement set-up. Metrological characterization shows a resolution comparable to classical (stereo) correlation technique ($1/100^{th}$ pixel). Spatial resolution seems to be an advantage of the method, because of the use of temporal phase stepping (shape measurement, 1 pixel) and windowed Fourier transform (in plane displacements measurement, 9 pixels). Two examples are given. First one is the study of skin properties; second one is a study on leather fabric. In both cases, results are convincing, and have been exploited to give mechanical interpretation.

• Journal of KIISE
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• v.42 no.10
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• pp.1185-1194
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• 2015

A spherical panoramic image does not conform to the pin-hole camera model, and, hence, it is not possible to utilize previous techniques consisting of plane-to-plane transformation. In this paper, we propose a new method to estimate the planar geometric transformation between the planar image and a spherical panoramic image. Our proposed method estimates the transformation parameters for latitude, longitude, rotation and scaling factors when the matching pairs between a spherical panoramic image and a planar image are given. A planar image is projected into a spherical panoramic image through two steps of nonlinear coordinate transformations, which makes it difficult to compute the geometric transformation. The advantage of using our method is that we can uncover each of the implicit factors as well as the overall transformation. The experiment results show that our proposed method can achieve estimation errors of around 1% and is not affected by deformation factors, such as the latitude and rotation.

• Environmental Mutagens and Carcinogens
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• v.21 no.1
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• pp.1-8
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• 2001

We have synthesized $^{99m}$Tc-mercaptoacetyltriglycine (MAG3)-biocytin as a new imaging agent for hepatobiliary scintigraphy. The aim of this study was to evaluate the usefulness of $^{99m}$Tc-MAG3-biocytin scintigraphy in differentiating carbon tetrachloride ( $CCl_4$)-induced hepatotoxicity from $\alpha$-naphthylisothiocyanate (ANIT)-induced cholestasis in mice, which reflecting the differential diagnosis of neonatal jaundice caused by neonatal hepatitis from congenital biliary atresia in humans. Methods: Balb/c mice (female, 20 g, n=4-6) were pretreated with $CCl_4$(0.5 or $1.0m\ell$/kg) and ANIT ($150 or 300 m\ell$/kg) 18 h before scintigraphy. Biochemical and histopathological examinations showed a pattern of typical acute hepatitis (increase of transaminases and hepatocellular necnsis) in $CCl_4$-treated mice and cholestasis (increase of alkaline phosphatase and ${\gamma}$-glutamyltransferase, and biliary hyperplasia) in ANIT-treated mice, respectively, Mice were fasted at least 4 hr prior to the intravenous injection of $^{99m}$Tc-MAG3-biocytin (18.5 MBq/20$\mu\textrm{g}$) in 2% human serum albumin in saline. Scintigraphy was performed with a ${\gamma}$-camera equipped with a 1-mm diameter pin-hole collimator for 30 min and images were acquired every 15 s. We compared the values of physical parameters, such as peak liver/heart ratio ($${\gamma}$_{max}$) and peak ratio time ($t_{max}$) far $^{99m}$Tc-MAG3-biocytin scintigraphy. Results: Scintigraphic parameters of the $CCl_4$-pretreated (0.5 $m\ell$/kg) group showed a 81.9% decrease of r$_{max}$, and 42.2% decrease of $t_{max}$, whereas the ANIT-pretreated ( $150m\ell$/kg) group showed a 53% decrease of $r_{max}$, and 2.36-fold increase of $t_{max}$, (P<0.05). These results demonstrate that the decrease of $r_{max}$ and the shortening of $t_{max}$ are characteristic features for hepatotoxicity, in contrast to the increase of $t_{max}$ and decrease of $r_{max}$ for biliary hyperplasia. Conclusion: $^{99m}$Tc-MAG3-biocytin hepatobiliary scintigraphy can distinguish hepatitis from cholestasis in mice model and may be similarly useful in humans which differentiating the cause of neonatal jaundice in clinical study.cal study.cal study.cal study.