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Real-time Omni-directional Distance Measurement with Active Panoramic Vision
Sooyeong Yi,Byoungwook Choi,Narendra Ahuja 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.2
Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional min-or and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.
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.
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),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.
Development of Color 3D Scanner Using Laser Structured-light Imaging Method
Ko, Youngjun,Yi, Sooyeong Optical Society of Korea 2018 Current Optics and Photonics Vol.2 No.6
This study presents a color 3D scanner based on the laser structured-light imaging method that can simultaneously acquire 3D shape data and color of a target object using a single camera. The 3D data acquisition of the scanner is based on the structured-light imaging method, and the color data is obtained from a natural color image. Because both the laser image and the color image are acquired by the same camera, it is efficient to obtain the 3D data and the color data of a pixel by avoiding the complicated correspondence algorithm. In addition to the 3D data, the color data is helpful for enhancing the realism of an object model. The proposed scanner consists of two line lasers, a color camera, and a rotation table. The line lasers are deployed at either side of the camera to eliminate shadow areas of a target object. This study addresses the calibration methods for the parameters of the camera, the plane equations covered by the line lasers, and the center of the rotation table. Experimental results demonstrate the performance in terms of accurate color and 3D data acquisition in this study.
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.