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무한원점의 성질을 이용한 포장 및 비포장 도로에서의 카메라 교정 파라메터 추정
정준익(Jeong Jun-ik),정명희(Jeong Myeong-Hee),노도환(Rho Do-Whan) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
In general. camera calibration has to be gone ahead necessarily to estimate a position and an orientation of the object exactly using a camera. Autonomous land system in order to run a vehicle autonomously needs a camera calibration method appling a camera and various road environment. Camera calibration is to prescribe the confrontation relation between third dimension space and the image plane. It means to find camera calibration parameters. Camera calibration parameters using the paved road and the unpaved road are estimated. The proposed algorithm has been detected through the image processing after obtaining the paved road and the unpaved road. There is able to detect easily edges because the road lanes exist in the paved road. Image processing method is two. One is a method on the paved road. Image is segmentalized using open, dilation, and erosion. The other is a method on the unpaved road. Edges are detected using blur and sharpening. So it has been made use of Hough transformation in order to detect the correct straight line because it has less error than least-square method. In addition to, this thesis has been used vanishing point' principle. an algorithm suggests camera calibration method using Hough transformation and vanishing point. When the algorithm was applied, the result of focal length was about 10.7[㎜] and RMS errors of rotation were 0.10913 and 0.11476 ranges. these have the stabilized ranges comparatively. This shows that this algorithm can be applied to camera calibration on the paved and unpaved road.
정명희(Myung-Hee Jeong),정준익(Jun-Ik Jeong),노도환(Do-Hwan Rho) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
풍력발전기에 있어서 블레이드의 Yaw방향 제어는 끊임없이 변화하는 풍향에 대해 효율의 극대화와 블레이드의 강도 및 진동측면에서 대단히 중요하다. 기존의 플레이드 Yaw 방향 측정은 접촉 및 비접촉 센서가 이용되어왔다. 본 논문에서는 풍력발전기의 원격모니터링 시스템에서 기본적으로 설치되는 카메라를 이용하여 블레이드의 Yaw방향을 측정하는 방법을 제안한다. 블레이드가 풍향에 따라 회전할 때 영상 누적을 행하고, 누적영상에 대해 경계점을 추정하여 타원의 궤적을 추정한다. 추정된 경계점들을 이용하고 최소자승법을 적용하여 타원방정식을 추정하고, 장축과 단축을 연산한다. 장축과 단축의 변화를 이용하여 카메라의 촬영방향의 기준점으로부터 Yaw방향의 변화를 정량적인 값으로 산출하여 이를 바탕으로 Yaw 회전각을 추정한다. Yaw 방향 추정의 검증을 위해 블레이드 속도와 Yaw 방향의 제어가 가능한 모형풍력발전기를 제작하고 실험을 통하여 제안한 추정알고리즘의 유효성을 검증한다.
고현민,정준익,최성구,노도환 전북대학교 공업기술연구소 1997 工學硏究 Vol.28 No.-
In this paper, we present the algorithm for recognizing road sign and traffic signal from VTR road image. First, the recognition of road sign can be detected using boundary point estimation from some detect-lines within the region between the left and the right lane deduced by preprocessing. For this algorithm, index matrix method is used to determine what sign is. To get the index matrix, boundary points have processed at the front stage such as the estimation of the distribution of vertical-points and middle point. Then, the recognition of traffic signal is performed by using the window minified by several detect-lines which position may be expected. For this algorithm, line profile concept is adopted. Above all, the merit of this algorithm is the use of one camera system, so-called monocular vision system differed from other system such as stereo vision system, fusion system. This leads to a low cost and compact system.