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View Planning for Occluded Region with Active Imaging System
Hyunki Lee,Hyungsuck Cho,Deokhwa Hong 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Nowadays, a number of 3D shape measurement methods have been developed such as stereo vision, laser structured light, and Phase Measuring Profilometry (PMP). They have many problems such as correspondence problem, 2π-ambiguity and occlusion problem. Among them, occlusion problem is common problem for 3D shape measurement and well known as difficult to solve. To solve this problem, in our previous research, active imaging system is introduced, which can change the viewing angle without changing of field-of-view (FOV), and can do the FOV with maintaining the viewing angle. And to decide the viewing direction and position, view planning algorithm is developed. The performance of our system is checked by simulation and a series of real experiments.
Increase Visibility for Observation of Micro Objects in Microassembly by an Active Imaging System
Xiaodong Tao,Hyungsuck Cho 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Vision technique used in automatic microassembly limits its application, due to several inherent problemssuch as occlusions and small field of view. However the microassembly often needs to detect micro parts with complex shape inside the wide field of view. To avoid this criticism, we proposed a view steering method using an active imaging system that enables adjustment of the view to keep targets inside field of view and to avoid occlusion automatically for microassmebly. The system integrates a telecentric scanner and a double wedge prisms system which can supply a flexible view with adjustable zenith and azimuth angles. A best view is generated with a high resolution without occlusion by artificial potential field method. The microassembly experiments show the advantages of the proposed method over the conventional vision system.
Deokhwa Hong,Hyunki Lee,Hyungsuck Cho,Youngjin Park,Jong Hyung Kim 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, fusion of visual and inertial information is proposed for attitude measurement of remotely-operated mobile robots. The primary objective is to eliminate the drift error of the inertial sensors using visual information for exact and fast sensing of attitude. By this fusion each output is not only combined together but also helps the other yield better result. The environment is assumed unknown and corner features are utilized for rotation matrix calculation, for corners are better extracted in nature scene than lines. The measured information is to be used for stabilizing the image sent to the operator and for stabilizing the robot body itself in bumpy terrain. In the paper, the fusion algorithm based on Kalman filter is utilized, and its performance is evaluated by experiment. For the experiment, high performance camera is used with low-quality gyro sensors. The experimental results show that the vision algorithm well tracks the attitude change of the camera, and by fusing that with gyro sensor output, we could get high rate angle measurement without drift error.
Active optical system for variable view imaging of micro objects with emphasis on kinematic analysis
Tao, Xiaodong,Cho, Hyungsuck,Janabi-Sharifi, Farrokh The Optical Society 2008 Applied optics Vol.47 No.22
<P>Insufficient vision information, such as occlusion, low resolvability, and a small field of view, represent important issues in microassembly and micromanipulation. We propose an active optical system to solve problems related to insufficient vision information through the integration of robotics and optics technologies. The proposed system integrates a double-prism system and a scanning mirror system to supply a compact flexible view. The kinematics of the imaging system is analyzed based on a simplified model initially to investigate the workspace and identify the kinematic performance. A more rigorous analysis of kinematics of the system is then made based on the ray tracing method. The simulation results based on the preliminary design are provided for investigating the workspace and demonstrating the capability of the system in imaging with variable views.</P>