Embedded System 기반 Vision Box 설계와 적용

이종혁,Lee, Jong-Hyeok 한국정보통신학회 2009 한국정보통신학회논문지 Vol.13 No.8

비전 시스템은 카메라를 통하여 획득한 이미지 정보를 캡쳐 후, 이를 분석하여 물체를 인식하는 것으로서, 차종 분류를 포함 한 다양한 산업현장에서 사용하고 있다. 이런 필요성으로 인하여 차종 분류를 위한 많은 연구가 이루어지고 있으나 복잡한 계산과정으로 인하여 처리 시간이 많이 소요되는 단점이 있다. 본 논문에서는 임베디드 시스템을 기반으로 하는 Vision Box를 설계하고 이를 사용한 차종인식 시스템을 제안하였다. 제안한 Vision Box의 성능을 자동차의 차종분류를 통한 사전 테스트 결과 최적 화된 환경 조건에서는 100%의 차종별 인식률을 보였으며, 조명 및 회전의 작은 변화에 따른 테스트에서 차종인식은 가능하였으나, 패턴점수가 낮아졌다. 제안한 Vision Box 시스템을 산업 현장에 적용한 결과 처리시간, 인식률 등에서 산업체의 요구 조건을 만족 할 수 있음을 확인할 수 일었다. Vision system is an object recognition system analyzing image information captured through camera. Vision system can be applied to various fields, and automobile types recognition is one of them. There have been many research about algorithm of automobile types recognition. But have complex calculation processing. so they need long processing time. In this paper, we designed vision box based on embedded system. and suggested automobile types recognition system using the vision box. As a result of pretesting, this system achieves 100% rate of recognition at the optimal condition. But when condition is changed by lighting and angle, recognition is available but pattern score is lowered. Also, it is observed that the proposed system satisfy the criteria of processing time and recognition rate in industrial field.

GNSS와 Vision System의 최적 융합 분석

박지호(Chi-Ho Park),김남혁(Nam-Hyeok Kim),박경용(Kyoung-Yong Park) 대한전자공학회 2015 전자공학회논문지 Vol.52 No.3

위성항법시스템과 비전시스템 융합 기술 기반의 신뢰성있는 위치 측위에 관한 연구

박지호(Chi-Ho Park),권순(Soon Kwon),이충희(Chung-Hee Lee),정우영(Woo-Young Jung) 大韓電子工學會 2011 전자공학회논문지TC (Telecommunications) Vol.48 No.10

이 논문은 위성항법시스템의 문제점인 위치오차와 실외음영지역을 해소하기 위하여 위성항법시스템과 비전시스템을 융합한 신뢰성있는 고정밀 측위 기술을 제안하였다. 동적단독측위에서 이동체는 이동 위치에 따라 사용할 수 있는 위성항법시스템의 수가 변화한다 위치 측위를 위해서는 최소 4개 이상의 위성항법시스템으로부터 위치정보데이터를 수신 받아야 한다. 그러나 도심지역에서는 고층건물이나 장애물 또는 반사파에 의해 정확한 위치측위가 어렵다. 이러한 문제점을 해결하기 위하여 비전 시스템을 이용하였다. 위성항법시스템을 사용하기 열악한 도심지역의 특정 건물에 정확한 위치값을 결정해 놓는다. 그리고 비전시스템을 통해 특정 건물을 인식하고 인식된 건물을 이용하여 위치오차를 보정해 준다. 이동체는 이동하면서 비전시스템을 이용하여 특정 건물을 인식하며 위치 데이터값을 만들어내고 위치계산을 수정하여 안정되고 신뢰성있는 고정밀 위치측위를 할 수 있다. This paper proposes a reliable high-precision positioning system that converges a satellite navigation system and a vision system in order to resolve position errors and outdoor shaded areas two disadvantages of a satellite navigation system. In kinematic point positioning the number of available satellite navigation systems changes in accordance with a moving object's position. For location determination of the object it should receive location data from at least four satellite navigation systems. However in urban areas exact location determination is difficult due to factors like high buildings obstacles and reflected waves. In order to deal with the above problem a vision system was employed. First determine an exact position value of a specific building in urban areas whose environment is poor for a satellite navigation. Then identify such building by a vision system and its position error is corrected using such building. A moving object can identify such specific building using a vision system while moving make location data values and revise location calculations thereby resulting in reliable high precision location determination.

의약 용기의 품질 검사를 위한 머신비전을 적용한다중 카메라 인라인 검사 시스템 개발

이태윤,윤석문,이승호 한국전기전자학회 2024 전기전자학회논문지 Vol.28 No.3

본 논문은 의약 용기의 품질 검사를 위한 머신비전을 적용한 다중 카메라 인라인 검사 시스템 개발을 제안한다. 제안하는 기법은다중 카메라를 통해 의약 용기를 다방면으로 촬영하여 더욱 정확히 의약 용기의 품질을 검사한다. 또한, 촬영된 의약 용기의 데이터를 기반으로 의약 용기의 치수 및 결함을 검사하여 불량 발생 시 사용자에게 알람이 가고 직접 불량 의약 용기를 제거하는 머신비전을 적용한 인라인 시스템으로 품질 검사의 효율성을 증대시킬 수 있다. 머신비전을 적용한 다중 카메라 인라인 검사 시스템의 제작은 4단계로 나뉜다. 첫 번째로 의약 용기를 흡입 고정 또는 용기를 회전하는 제품 제어부를 설계 및 제작한다. 두 번째로 제품을이동 및 촬영, 불량 제품일 경우에 배출하는 시스템 본체를 설계 및 제작한다. 세 번째로 모든 시스템을 제어하는 임베디드 보드의제어 로직을 설계 및 제작한다. 네 번째로 시스템 본체에서 촬영된 이미지를 영상 처리를 사용하여 의약 용기의 불량 검출이 가능한사용자 GUI를 설계 및 제작한다. 제안된 머신비전을 적용한 다중 카메라 인라인 검사 시스템의 성능을 평가하기 위하여 공인시험기관에서 실험한 결과는, 의약 용기의 치수 측정 오차 범위가 -0.30~0.28(외경), -0.11~0.57(전장) 이내로 세계 최고 수준인 1mm보다 우수한 결과를 달성하였고, 시스템 반복 동작의 안정성으로는 100%로 측정되었다. 따라서, 본 논문에서 제안한 의약 용기의품질 검사를 위한 머신비전을 적용한 다중 카메라 인라인 검사 시스템의 효용성이 입증되었다. In this paper proposes a study on the development of a multi-camera inline inspection system using machinevision for quality inspection of pharmaceutical containers. The proposed technique captures the pharmaceuticalcontainers from multiple angles using several cameras, allowing for more accurate quality assessment. Based onthe captured data, the system inspects the dimensions and defects of the containers and, upon detecting defects,notifies the user and automatically removes the defective containers, thereby enhancing inspection efficiency. Thedevelopment of the multi-camera inline inspection system using machine vision is divided into four stages. First,the design and production of a control unit that fixes or rotates the containers via suction. Second, the design andproduction of the main system body that moves, captures, and ejects defective products. Third, the design anddevelopment of control logic for the embedded board that controls the entire system. Finally, the design anddevelopment of a user interface (GUI) that detects defects in the pharmaceutical containers using image processingof the captured images. The system’s performance was evaluated through experiments conducted by a certifiedtesting agency. The results showed that the dimensional measurement error range of the pharmaceuticalcontainers was between -0.30 to 0.28 mm (outer diameter) and -0.11 to 0.57 mm (overall length), which is superiorto the global standard of 1 mm. The system's operational stability was measured at 100%, demonstrating itsreliability. Therefore, the efficacy of the proposed multi-camera inline inspection system using machine vision forthe quality inspection of pharmaceutical containers has been validated.

A vision-based system for long-distance remote monitoring of dynamic displacement: experimental verification on a supertall structure

Yi-Qing Ni,You-Wu Wang,Wei-Yang Liao,Wei-Huan Chen 국제구조공학회 2019 Smart Structures and Systems, An International Jou Vol.24 No.6

Dynamic displacement response of civil structures is an important index for in-construction and in-service structural condition assessment. However, accurately measuring the displacement of large-scale civil structures such as high-rise buildings still remains as a challenging task. In order to cope with this problem, a vision-based system with the use of industrial digital camera and image processing has been developed for long-distance, remote, and real-time monitoring of dynamic displacement of supertall structures. Instead of acquiring image signals, the proposed system traces only the coordinates of the target points, therefore enabling real-time monitoring and display of displacement responses in a relatively high sampling rate. This study addresses the in-situ experimental verification of the developed vision-based system on the Canton Tower of 600 m high. To facilitate the verification, a GPS system is used to calibrate/verify the structural displacement responses measured by the vision-based system. Meanwhile, an accelerometer deployed in the vicinity of the target point also provides frequency-domain information for comparison. Special attention has been given on understanding the influence of the surrounding light on the monitoring results. For this purpose, the experimental tests are conducted in daytime and nighttime through placing the vision-based system outside the tower (in a brilliant environment) and inside the tower (in a dark environment), respectively. The results indicate that the displacement response time histories monitored by the vision-based system not only match well with those acquired by the GPS receiver, but also have higher fidelity and are less noise-corrupted. In addition, the low-order modal frequencies of the building identified with use of the data obtained from the vision-based system are all in good agreement with those obtained from the accelerometer, the GPS receiver and an elaborate finite element model. Especially, the vision-based system placed at the bottom of the enclosed elevator shaft offers better monitoring data compared with the system placed outside the tower. Based on a wavelet filtering technique, the displacement response time histories obtained by the vision-based system are easily decomposed into two parts: a quasi-static ingredient primarily resulting from temperature variation and a dynamic component mainly caused by fluctuating wind load.

능동 객체에 기반을 둔 제조 공정 환경에서의 컴퓨터 시각 시스템 통합

이동우,장덕진,이용진 우송대학교 1997 우송대학교 논문집 Vol.2 No.-

제조 공정 환경에서의 시스템 통합이란 단순히 부속 시스템들이 함께 동작하는 것을 의미하는 것이 아니고, 기업의 사업 목표를 이루기 위해 함께 일하는 것을 의미한다. 즉, 각 부속 시스템들이 지능적으로 동작하고 다른 시스템들과 적극적으로 협동하는 것이다. 본 논문은 최근 그 응용이 크게 증가하고 있는 컴퓨터 시각 시스템 관점에서 제조공정 시스템들의 통합 문제를 다룬다. 이러한 통합 시스템을 이루기 위해서, 기존의 객체지향 패러다임(paradigm)을 포괄하는 능동 객체 패러다임을 제안한다. 통합된 시스템은 능동 객체와 수동 객체로 분류되는 객체들로 구축된다. 또한, 통합된 시각 시스템의 원형(protype) 시스템 구축을 위한 초기 구조(framework)를 제시한다. The meaning of the integration in manufacturing environments is that all component systems to meet the company business objectives rather than simply work together. Each component should behave intelligently and actively cooperate with other systems. The issues of integration of an manufacturing system are investigated in perspective of a computer vision system which has found an increasing number of applications. To achieve the integration, active object paradigm is proposed, which subsumes conventional object-oriented paradigm. The integrated system is implemented as a collection of objects which are classified into active objects and passive objects. An initial framework for the prototype implementation for an integrated computer vision system is presented.

PRECISE AND RELIABLE POSITIONING BASED ON THE INTEGRATION OF NAVIGATION SATELLITE SYSTEM AND VISION SYSTEM

C.-H. PARK,N.-H. KIM 한국자동차공학회 2014 International journal of automotive technology Vol.15 No.1

In this paper, we propose a precise and reliable positioning method for solving common problems, such as anavigation satellite's signal occlusion in an urban canyon and the positioning error due to a limited number of visiblenavigation satellites. This is an integrated system of the navigation satellites system and a vision system. In general, thenavigation satellite positioning system has a fatal weakness in that it can not calculate a position coordinate when its signalis occluded by some obstacle. For this reason, positioning by using the navigation satellites system can not be used for avariety of applications. Therefore, we propose as a method to integrate both the navigation satellites system and the visionsystem. Some target objects that have accurate position coordinates, for example, in an outdoor shaded area like an urbancanyon, are installed into the vision system. When the vision system recognizes a target object it loads the accurate coordinateof that target object. Then, it measures the distance by using the disparity from the camera sensor to the target object. Thesedistance and object coordinate data are used for positioning with the navigation satellites system's data. This integrated systemcan be used for the positioning solution where the user is in unfavorable conditions. This paper shows that the algorithm ofintegrated system and the numerical test performed. The results indicate that the reliable and stable positioning can be obtainedby introducing the vision system to the satellite navigation system.

Vision Sensor Technology Trends for Industrial Inspection System

김기수(Kisoo Kim),박준(June Park) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.12

The fourth industrial revolution is rapidly emerging as a new innovation trend for industrial automation. Accordingly, the demand for inspection equipment is highly increasing and vision sensor technologies are continuously evolving. Machine vision algorithms applied to deep learning are also being rapidly developed to maximize the performance of inspection equipment. In this review, we highlight the recent progress of vision sensor technology for the industrial inspection system. In particular, inspection principles and industrial applications of a vision sensor are classified according to the vision scanning methods. We also discuss machine vision-based inspection techniques containing rule- and deep learning-based image processing algorithms. We believe that this review provides novel approaches for various inspection fields of agriculture, medicine, and manufacturing industries.

비전을 이용한 베어링 내/외륜 면취 검사 시스템

윤주영(Ju-Young Yoon),이영춘(Young-Choon Lee),방두열(Doo-Yeol Pang),이성철(Seong-Cheol Lee) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월

This paper is about the development of surface inspection of bearing inner and outer race using machine vision. Before this system is developed, most inspections are performed by workers" naked eye. To improve both the inconvenience and incorrectness, another new tester is introduced. This system has the three sections mainly. First one is the mechanism section which transfers bearing manufactured from previous process line to the testing process in plant. Another is the inspection system which is composed of two parts: computer vision and measurement system using laser diode which inspects the defects of the bearing inner or outer race. The other is the pneumatic cylinder part controlled by Programmable Logic Controller(PLC). The system which is developed shows favorable results, and that has the advantage of convenience and correctness compared to previous system.

Vision Tracking System For Mobile Robots Using Two Kalman Filters and a Slip Detector

Wonsang Hwang,Jaehong Park,Hyun-il Kwon,Muhammad Latif Anjum,Jong-hyeon Kim,Changhun Lee,Kwang-soo Kim,Dong-il “Dan” Cho 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

The vision tracking system in this paper estimates the robot position relative to a target and rotates the camera towards the target. To estimate the robot position of mobile robot, the system combines information from an accelerometer, a gyroscope, two encoders, and a vision sensor. The encoders can provide fairly accurate robot position information, but the encoder data are not reliable when robot wheels slip. Accelerometer data can provide the robot position information even when the wheels are slipping, but a long term position estimation is difficult, because of integration of errors arising from bias and noise. To overcome the drawbacks of each method mentioned in the above, the proposed system uses data fusion with two Kalman filters and a slip detector. One Kalman filter is for the slip case, and the other is for the no-slip case. Each Kalman filter uses a different sensor combination for estimating the robot motion. The slip detector compares the data from the accelerometer with the data from the encoders, and decides if a slip condition has occurred. Accordingly, based on the decision of the slip detector, the system chooses one of the outputs of the two Kalman filters, which is subsequently used for calculating the camera angle of the vision tracking system. The vision tracking system is implemented on a two-wheeled robot. To evaluate the tracking and recognition performance of the implemented system, experiments are performed for various robot motion scenarios in various environments.