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이수영(Sooyeong Yi),이재영(Jaeyoung Rhi),김순철(Soonchul Kim),이정규(Jeonggyu Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
In this paper, a 3D coordinates acquisition method for a mechanical assembly is developed by using multiview X-ray images. The multi-view X-ray images of an object are obtained by a rotary table. From the rotation transformation, it is possible to obtain the 3D coordinates of corresponding edge points on multi-view X-ray images by triangulation. The edge detection algorithm in this paper is based on the attenuation characteristic of the X-ray. The 3D coordinates of the object points are represented on a graphic display, which is used for the inspection of a mechanical assembly.
이수영(Sooyeong Yi),최대성(Daesung Choi),최병욱(Byoungwook Choi) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.6
A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.
이수영(Sooyeong Yi),최병욱(Byungwook Choi) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.4
A new method for the catadioptric omnidirectional stereo vision with single camera is presented in this paper. The proposed method uses a concave lens with a convex mirror. Since the optical part of the proposed method is simple and commercially available, the resultant omnidirectional stereo system becomes versatile and cost-effective. The closed-form solution for 3D distance computation is presented based on the simple optics including the reflection and the refraction of the convex mirror and the concave lens. The compactness of the system and the simplicity of the image processing make the omnidirectional stereo system appropriate for real-time applications such as autonomous navigation of a mobile robot or the object manipulation. In order to verify the feasibility of the proposed method, an experimental prototype is implemented.
신진(Jin Shin),이수영(Sooyeong Yi),홍영진(Youngjin Hong),서진호(Jinho Suh) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.8
In this paper, we proposed an omnidirectional ranging system that is able to obtain 360o all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.
전방향 구조광 영상을 위한 Bresenham 래스터 알고리즘 기반 영상 탐색 방법
신진(Jin Shin),이수영(SooYeong Yi) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.2
In this paper, we proposed a search method for structured light pixels of omnidirectional structured light image. Since the omnidirectional structured light image is composed of several circular arc segments, the proposed algorithm searches the structured light pixels in radial direction rather than horizontal or vertical directions. The proposed search algorithm is based on the well-known Bresenham raster algorithm for line drawing in discrete integer space, thereby computation of the algorithm is very efficient. Comparison results between the proposed search algorithm and the conventional horizontal search are presented in experiments.
신진(Jin Shin),이수영(Sooyeong Yi) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.5
In this paper, a ranging system is proposed that is able to measure 360 degree omnidirectional distances to environment objects. The ranging system is based on the structured light imaging system with catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured light image processing algorithms are developed; sequential integration of difference images with modulated structured light and radial search based on Bresenham line drawing algorithm. A dedicated FPGA image processor is developed to speed up the overall image processing. Also the distance equation is derived in the omnidirectional imaging system with a hyperbolic mirror. It is expected that the omnidirectional ranging system is useful for mapping and localization of mobile robot. Experiments are carried out to verify the performance of the proposed ranging system.
능동 전방향 거리 측정 시스템을 이용한 이동로봇의 위치 추정
류지형(jihyung Ryu),김진원(Jinwon Kim),이수영(Sooyeong Yi) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.5
An active omni-directional raging system using an omni-directional vision with structured light has many advantages compared to the conventional ranging systems: robustness against external illumination noise because of the laser structured light and computational efficiency because of one shot image containing 360° environment information from the omni-directional vision. The omni-directional range data represents a local distance map at a certain position in the workspace. In this paper, we propose a matching algorithm for the local distance map with the given global map database, thereby to localize a mobile robot in the global workspace. Since the global map database consists of line segments representing edges of environment object in general, the matching algorithm is based on relative position and orientation of line segments in the local map and the global map. The effectiveness of the proposed omni-directional ranging system and the matching are verified through experiments.