새로운 선형의 외형적 카메라 보정 기법

도용태 ( Yong Tae Do ) 한국센서학회 2014 센서학회지 Vol.23 No.1

Vision is the most important sensing capability for both men and sensory smart machines, such as intelligent robots. Sensed real 3D world and its 2D camera image can be related mathematically by a process called camera calibration. In this paper, we present a novel linear solution of camera calibration. Unlike most existing linear calibration methods, the proposed technique of this paper can identify camera parameters explicitly. Through the step-by-step procedure of the proposed method, the real physical elements of the perspective projection transformation matrix between 3D points and the corresponding 2D image points can be identified. This explicit solution will be useful for many practical 3D sensing applications including robotics. We verified the proposed method by using various cameras of different conditions.

카메라 모델과 데이터의 정확도가 불확실한 상황에서의 카메라 보정

도용태 ( Do Yong Tae ) 한국센서학회 2004 센서학회지 Vol.13 No.1

N/A Camera calibration is an important and fundamental procedure for the application of a vision sensor to 3D problems. Recently many camera calibration methods have been proposed particularly in the area of robot vision. However, the reliability of data used in calibration has been seldomly considered in spite of its importanec. In addition, a camera model can not guarantee good results consistently in various conditions. This paper proposes methods to overcome such uncertainty problems of data and camera models as we often encounter them in practical camera calibration steps. By the use of the RANSAC (Random Sample Consensus) algorithm, few data having excessive magnitudes of errors are excluded. Artificial neural networks combined in a two-step structure are trained to compensate for the result by a calibration method of a particular model in a given condition. The proposed methods are useful because they can be employed additionally to most existing camera calibration techniques if needed. We applied them to a linear camera calibration method and could get improved results.

컬러와 동적 특징을 이용한 화재의 시각적 감지

도용태 ( Yong Tae Do ) 한국센서학회 2012 센서학회지 Vol.21 No.3

Fires are the most common disaster and early fire detection is of great importance to minimize the consequent damage. Simple sensors including smoke detectors are widely used for the purpose but they are able to sense fires only at close proximity. Recently, due to the rapid advances of relevant technologies, vision-based fire sensing has attracted growing attention. In this paper, a novel visual sensing technique to automatically detect fire is presented. The proposed technique consists of multiple steps of image processing: pixel-level, block-level, and frame level. At the first step, fire flame pixel candidates are selected based on their color values in YIQ space from the image of a camera which is installed as a vision sensor at a fire scene. At the second step, the dynamic parts of flames are extracted by comparing two consecutive images. These parts are then represented in regularly divided image blocks to reduce pixel-level detection error and simplify following processing. Finally, the temporal change of the detected blocks is analyzed to confirm the spread of fire. The proposed technique was tested using real fire images and it worked quite reliably.

벤즈아닐리드류의 광화학 (제1보). 벤즈아닐리드류의 광고리화 반응

박용태,도상록,이갑득,Yong-Tae Park,Sang-Rok Do,Kap-Duk Lee 대한화학회 1985 대한화학회지 Vol.29 No.4

몇가지 벤즈아닐리드류를 합성하여 광반응시킨 후 생성물을 분리하고 그 구조를 결정하였다. 벤즈아닐리드 자체는 광고리화 안되고 Photo-Fries형 생성물을 주었지만 2-chlorobenzaniline, 2-bromobenzanilide, 및 2-methoxybenzanilide는 질소기류하에서 광고리화하여 모두 phenanthridone을 생성하였다. 2-chloro-2-nitrobenzanilide는 광고리화되지 않았다. 니트로기가 페닐고리에 도입되니 들뜬상태의 에너지가 낮아서 광고리화 안되었다. 2,2'-dichlorobenzanilide가 광고리화 되어 8-chlorophenanthridone이 되는 것으로 보아 들뜬 부분은 카르보닐쪽의 페닐 부분인것을 알 수 있었다. 2'-위치에 Cl이 있는 경우에도 광고리화 되었다. 2-chlorobenzanilide나 2'-chlorobenzanilide에 대하여 몇가지 용매중에서 광고리화 양자수득률을 구하였는데, 2-chlorobenzaniline는 효과적으로, 2'-chlorobenzanilide는 비효과적으로 광고리화 되었다. 대체로 비극성용매중에서 또 저점성용매중에서 양자수득률이 좋았다. 2-chlorobenzaniline가 광고리화 될때 산소의 영향을 시험하였는데, 산소가 존재하는 데서 광고리화가 잘 안되었다. 따라서 이때 삼중상태가 상관하는 것을 알았으며 전이상태는 염소원자가 떨어져 나가고 이때 이웃 페닐고리가 도우는 메카니즘을 제안한다. 삼중상태의 2-chlorobenzaniline에서 카르보닐쪽의 페닐과 N-페닐의 도움으로 카르보닐쪽의 페닐에 붙은 염소원자 떨어져나가 중간체인 컨쥬게이션된 라디칼이 된다. 이 라디칼에서 수소원자가 떨어져 나가 phenanthridone이 되는데, 이 단계는 속도결정단계가 아니다. 왜냐하면, 이 광고리화 반응에서 수소대신 중수소를 치환해도 속도에는 영향이 없기 때문이다. 2-methoxybenzanilide가 광고리화 될때는 산소가 존재하니 반응이 빨라졌다. 이는 단일 상태가 상관하는 것 같으며 산소가 중간체를 산화하여 반응을 촉진하는 것 같다. Preparative and kinetic photochemical reactions of several benzanilides were studied. Several substituted benzanilides were synthesized by acylation of substituted anilines with substituted benzoyl chlorides. While benzanilide gave a photo-Fries type reaction product, 2-chlorobenzaniline, 2-bromobenzanilide, and 2-methoxybenzanilide gave a photocyclization reaction product, phenanthridone. Since 8-chlorophenanthridone was obtained from 2,2'-dichlorobenzanilide, the carbonyl phenyl is the excited site. Quantum yield of photocyclization of 2-chlorobenzanilide, 2'-chlorobenzanilide, and 2-methoxybenzanilide were obtained. 2-Chlorobenzanilide was photocyclized effectively and 2'-chlorobenzanilide ineffectively. Since the oxygen present in the reaction medium retarded the photocyclization reaction of 2-chlorobenzanilide, the triplet state of 2-chlorobenzanilide is involved. The mechanism of the photocyclization of 2-chlorobenzanilide is suggested: $\pi-complex$ between carbonyl phenyl and N-phenyl was formed from the triplet state of 2-chlorobenzanilide; neighbour phenyl (N-phenyl) assists for leaving of chlorine from carbonyl phenyl to make an intermediate, cyclized conjugated radical, because electron donating group on the N-phenyl ring accelerated the reaction; hydrogen detachment from the intermediate is obviously not a rate determined step because there was no isotope effect on the rate of photocyclization. The photocyclization reaction rate of 2-methoxybenzanilide was faster in the presence of oxygen than in the absence of oxygen. Thus, the singlet excited state of 2-methoxybenzanilide is involved in the reaction. Probably, the intermediate, methoxyhydro-phenanthridone is oxidized by oxygen in the medium to give phenanthridone.

벤즈아닐리드류의 광화학 (제2보). 벤즈아닐리드류의 Photo-Fries 형 반응

박용태,윤한춘,도상록,김영두,Yong-Tae Park,Han-Chun Yun,Sang-Rok Do,Young-Du Kim 대한화학회 1985 대한화학회지 Vol.29 No.4

Several benzanilides were prepared by acylation of anilines with substituted benzoyl chlorides. While 2-chlorobenzanilides were photocyclized, 2-methylbenzanilide and 2'-methylbenzanilide were cleaved to give photo-Fries type products. 2-Nitrobenzanilide and 2'-nitrobenzanilide were inert in the above conditions due to lowering energy of the excited state by the nitro group. N, N-dibenzoylaniline and N, N-di-(2-chlorobenzoyl) aniline gave photo-Fries type reaction products effectively. In the benzanilide photo-Fries type reaction the excited singlet state was believed to be involved, since no oxygen effect was observed on the reaction rate. Quantum yield for 2-methylbenzanilide is higher in nonpolar and less viscous solvents than in polar and viscous solvents. The solvent cage radical pair is suggested in the photo-Fries type reaction of benzanilides. 몇가지 벤즈아닐리드 유도체를 합성하여 광반응될 때 생성물의 구조를 밝혔으며, 메카니즘을 연구하였다. 치환된 아닐린에 benzoyl chloride 유도체를 넣어 아실화하여 benzanilide 유도체를 합성하였다. N, N-dibenzoylaniline 유도체는 뜨거운 benzoyl chloride 유도체에 아닐린을 소량씩 가하여 얻었다. 2-chlorobenzanilide와는 달리 2-methylbenzanilide나 2'-methylbenzanilide는 photo-Fries형 생성물을 주었다. 2-위치에 니트로기가 도입된 benzanilide는 광반응을 하지 않았다. 들뜬 상태가 광반응을 할만큰 충분한 에너지를 갖고 있지 않기 때문이라고 생각한다. N, N-dibenzoylaniline이나 N, N-di-(2-chlorobenzoyl) aniline의 광반응으로 부터 쉽게 photo-Fries형 반응을 할때 단일선 상태가 상관하는것 같다. 왜냐하면 산소가 반응에 아무런 영향이 없기 때문이다. 극성이 작은, 또 점성이 낮은 용매에서 양자수득률이 좋았다. 단일 들뜬상태에서 카르보닐탄소와 질소사이 결합이 끊어져 용매 바구니라디칼 쌍이 되었다가 반전되어 재결합하면 생성물이 된다고 생각된다.

컬러 시각을 이용한 사람 손의 검출

김준엽 ( Jun Yup Kim ),도용태 ( Yong Tae Do ) 한국센서학회 2012 센서학회지 Vol.21 No.1

The visual sensing of human hands plays an important part in many man-machine interaction/interface systems. Most existing visionbased hand detection techniques depend on the color cues of human skin. The RGB color image from a vision sensor is often transformed to another color space as a preprocessing of hand detection because the color space transformation is assumed to increase the detection accuracy. However, the actual effect of color space transformation has not been well investigated in literature. This paper discusses a comparative evaluation of the pixel classification performance of hand skin detection in four widely used color spaces; RGB, YIQ, HSV, and normalized rgb. The experimental results indicate that using the normalized red-green color values is the most reliable under different backgrounds, lighting conditions, individuals, and hand postures. The nonlinear classification of pixel colors by the use of a multilayer neural network is also proposed to improve the detection accuracy.

이동 물체의 3차원 계측을 위한 PSD 센서 배열 설계

김종만 ( Jong Man Kim ),도용태 ( Yong Tae Do ) 한국센서학회 2008 센서학회지 Vol.17 No.2

비선형 스위칭 평면을 가지는 적응가변구조

李大植(Dae-Sik Lee),都勇兌(Yong-tae Do),柳奭桓(Seog-Hwan Yoo) 대한전기학회 1997 전기학회논문지 Vol.46 No.12

시각을 이용한 이동 로봇의 강건한 경로선 추종 주행

손민혁 ( Min Hyuk Son ),도용태 ( Yong Tae Do ) 한국센서학회 2011 센서학회지 Vol.20 No.3

Line tracking is a well defined method of mobile robot navigation. It is simple in concept, technically easy to implement, and already employed in many industrial sites. Among several different line tracking methods, magnetic sensing is widely used in practice. In comparison, vision-based tracking is less popular due mainly to its sensitivity to surrounding conditions such as brightness and floor characteristics although vision is the most powerful robotic sensing capability. In this paper, a vision-based robust path line detection technique is proposed for the navigation of a mobile robot assuming uncontrollable surrounding conditions. The technique proposed has four processing steps; color space transformation, pixel-level line sensing, block-level line sensing, and robot navigation control. This technique effectively uses hue and saturation color values in the line sensing so to be insensitive to the brightness variation. Line finding in block-level makes not only the technique immune from the error of line pixel detection but also the robot control easy. The proposed technique was tested with a real mobile robot and proved its effectiveness.

컨벡스 최적화를 이용한 선형 이산형 시스템의 H₂/H<SUB>∞</SUB> 필터의 설계

柳奭桓(Seog-Hwan Yoo),都勇兌(Yong-Tae Do),李大植(Dae-Sik Lee) 대한전기학회 1996 전기학회논문지 Vol.45 No.11