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公开(公告)号：KR1020090030683A
公开(公告)日：2009-03-25
申请号：KR1020070096139
申请日：2007-09-20
Applicant: 한국과학기술연구원
IPC: G05D1/02
CPC classification number: G05D1/0214
Abstract: A method for designing a moving path of a robot is provided to search for the optimum moving path by extending a searching space to a time axis. An initial value is inputted(S101). A node where a robot moves is selected(S102). When the robot passes through the selected node and reaches a neighboring node, a position of an obstacle is grasped(S103). A candidate node is selected among the neighboring nodes(S104). The safety of the neighboring node from the obstacle is determined(S105). If the neighboring node is safe, the candidate node is selected as the following node where the robot moves.
Abstract translation: 提供一种用于设计机器人的移动路径的方法，以通过将搜索空间延伸到时间轴来搜索最佳移动路径。 输入初始值（S101）。 选择机器人移动的节点（S102）。 当机器人通过所选节点并到达相邻节点时，抓住障碍物的位置（S103）。 在相邻节点中选择候选节点（S104）。 确定邻接节点与障碍物的安全性（S105）。 如果相邻节点是安全的，则选择候选节点作为机器人移动的后续节点。
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公开(公告)号：KR100831936B1
公开(公告)日：2008-05-26
申请号：KR1020060053825
申请日：2006-06-15
Applicant: 한국과학기술연구원
Abstract: 본 발명은 휴머노이드용 음원 위치 측정 장치에 관한 것이다. 본 발명에 따른 휴머노이드용 음원 위치 측정 장치는 휴머노이드 머리의 양측면에 각각 장착되어 음원으로부터 발생하는 음파를 수신하는 제1 및 제2 마이크로폰 유닛; 및 상기 제1 및 제2 마이크로폰 유닛에 각각 수신되는 음파의 도착시간지연에 의해 상기 음원의 위치를 연산하는 제어부를 포함하는 것을 특징으로 한다. 이러한 휴머노이드용 음원 위치 측정 장치에 의하면, 인간의 귀와 같이 배치된 마이크로폰 유닛에 의해 음원의 위치를 3차원 좌표형태로 측정하는 것이 가능하다.
음원 위치 측정, 휴머노이드, 음파, 도착시간지연-
公开(公告)号：KR100813693B1
公开(公告)日：2008-03-14
申请号：KR1020060118606
申请日：2006-11-28
Applicant: 한국과학기술연구원
Abstract: A method for controlling arm movement of a robot and a robot thereof are provided to generate motion of a predetermined arm of the robot by applying a lifting angle for an elbow using operation database of a human arm. A method for controlling arm movement of a robot comprises the steps of: obtaining(S102) an angle for the ground surface with the wrist position from the shoulder of human and the normal direction of the palm to reproduce arm operation of human; calculating(S103) lifting angle for the elbow through an angle for the obtained wrinkle position and the normal direction of the palm with the ground surface; calculating(S104) each joint value of the robot by using the lifting angle of the elbow, the angle for the wrinkle position and the normal direction of the palm with the ground surface; and controlling(S105) the joint of the robot by using the calculated each joint value.
Abstract translation: 提供了一种用于控制机器人及其机器人的臂移动的方法，以通过使用人臂的操作数据库对肘部施加提升角度来产生机器人的预定臂的运动。 一种用于控制机器人臂的移动的方法，包括以下步骤：从人的肩膀和手掌的法线方向获取（S102）具有手腕位置的地面的角度，以再现人的手臂操作; 计算（S103）弯头的提升角度，获得皱纹位置的角度和手掌与地面的法线方向; 通过使用肘部的提升角度，皱纹位置的角度和手掌与地面的法线方向来计算（S104）机器人的每个关节值; 以及通过使用所计算的每个关节值来控制（S105）所述机器人的关节。
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公开(公告)号：KR1020070107543A
公开(公告)日：2007-11-07
申请号：KR1020060040192
申请日：2006-05-03
Applicant: 한국과학기술연구원
CPC classification number: G06T7/55 , G06T15/005 , G06T2200/28 , G06T2207/20228
Abstract: An apparatus for processing a streaming stereo image and generating a depth-map in real time is provided to adjust depth-map generation variables according to a characteristic or the capacity of hardware and have a universal structure capable of being easily embedded in the design of a stereo vision processor or a robot vision processor. A shift register block performs the pipelining process of pixel values to compare the pixel values of a streamed image. A difference operation block includes difference operation units for performing the difference operation algorithm of a matching window unit. The number of the difference operation units is same to or more than the number of disparity ranges to perform a parallel process. A disparity operation block buffers and compares difference result values provided from the difference operation blocks and calculates disparity. A control block controls the operation of the respective blocks.
Abstract translation: 提供了一种用于处理流式立体图像并实时生成深度图的装置，以根据硬件的特性或容量调整深度图生成变量，并具有能够容易地嵌入到设计中的通用结构 立体视觉处理器或机器人视觉处理器。 移位寄存器块执行像素值的流水线处理以比较流图像的像素值。 差分运算块包括用于执行匹配窗口单元的差分运算算法的差分运算单元。 差分运算单元的数量等于或大于进行并行处理的视差范围的数量。 视差运算块缓冲并比较由差运算块提供的差分结果值并计算差异。 控制块控制各个块的操作。
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公开(公告)号：KR1020070107542A
公开(公告)日：2007-11-07
申请号：KR1020060040191
申请日：2006-05-03
Applicant: 한국과학기술연구원
IPC: H04N17/00
Abstract: A camera calibration method using a plurality of calibration images for 3D measurement is provided to obtain accurate inner and outer factors of a camera for the same calibration pattern by using the images in a plurality of different angles and distances. A plurality of camera inner matrixes including inner and outer variables of a camera are calculated for a plurality of calibration images obtained by photographing the same calibration box in a plurality of positions where at least one of angles and distances differs by using the same camera(S41). Middle values are calculated for the respective inner matrixes, and the respective camera inner matrixes are updated(S42). Nonlinear optimization is performed for the outer variables for the respective images by using the updated respective camera inner matrixes(S43). The updated respective camera inner matrixes are updated again by using the optimized outer variables(S44).
Abstract translation: 提供使用多个用于3D测量的校准图像的相机校准方法，以通过使用多个不同角度和距离的图像来获得用于相同校准图案的相机的准确的内部和外部因素。 对于通过使用相同的摄像机在角度和距离中的至少一个不同的多个位置拍摄相同的校准箱而获得的多个校准图像，计算包括摄像机的内部和外部变量的多个照相机内部矩阵（S41 ）。 针对相应的内部矩阵计算中间值，并且更新各个相机内部矩阵（S42）。 通过使用更新的各个相机内部矩阵对各图像的外部变量执行非线性优化（S43）。 通过使用优化的外部变量再次更新更新的各个摄像机内部矩阵（S44）。
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Patent Agency Ranking
公开(公告)号：KR1020060115420A
公开(公告)日：2006-11-09
申请号：KR1020050037654
申请日：2005-05-04
Applicant: 한국과학기술연구원
CPC classification number: G06T7/80 , G06T2207/30208 , H04N5/23293
Abstract: A method for automatically extracting a cross point of a check board type is provided to robustly extract the cross point from a check board pattern by performing edge projection in a radius direction of a circle by a method capable of extracting the symmetry of a check board, and using at least one concentric circle. Edge information is projected to at least one concentric circle with respect to all points of an input image. If points of four maximum values are within a uniform range on at least one concentric circle to which the edge information is projected, the four points are extracted as cross point candidates. It is checked whether a brightness value is changed along directions of the extracted four cross point candidates. When the four cross points are crossed, the four cross points are added as candidate points. When a value of a cross rate which is established between candidate points, located on four points on a straight line and provided in projective geometry among the added candidate points is smaller than a uniform range, the candidate points are set up as cross points.
Abstract translation: 提供了一种用于自动提取支票板类型的交叉点的方法，以通过能够提取支票板的对称性的方法通过执行圆的半径方向上的边缘投影来鲁棒地从支票板图案中提取交叉点， 并使用至少一个同心圆。 边缘信息相对于输入图像的所有点被投影到至少一个同心圆。 如果四个最大值的点在边缘信息投影到的至少一个同心圆上在均匀范围内，则提取四个点作为交叉点候选。 检查亮度值是否沿着提取的四个交叉点候选的方向改变。 当四个交叉点交叉时，四个交叉点被添加为候选点。 当在添加的候补点之间的位于直线上的四点上并以投影几何形式提供的候选点之间建立的交叉率的值小于均匀范围时，将候选点设置为交叉点。
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公开(公告)号：KR1020060115209A
公开(公告)日：2006-11-08
申请号：KR1020050037611
申请日：2005-05-04
Applicant: 한국과학기술연구원
CPC classification number: H04N5/23296 , H04N5/2628 , H04N2013/0081
Abstract: A stereo zoom visual processing device is provided to acquire image information of various scales by using a zoom image acquisition device. A stereo image acquiring unit(1) acquires two or three or more synchronized images from a photographing lens. A zoom image acquiring unit(2) acquires scale images of various types through the change of a focal length of the photographing lens. An image processing unit(3) processes image signals from the stereo image acquiring unit(1) and the zoom image acquiring unit(2). A communication interface unit(4) transmits the image or the image-processed result from the image processing unit(3), or receives a control signal from the outside.
Abstract translation: 提供立体变焦视觉处理装置，以通过使用变焦图像获取装置获取各种尺度的图像信息。 立体图像获取单元（1）从拍摄镜头获取两个或三个以上的同步图像。 变焦图像获取单元（2）通过拍摄镜头的焦距的改变来获取各种类型的缩放图像。 图像处理单元（3）处理来自立体图像获取单元（1）和缩放图像获取单元（2）的图像信号。 通信接口单元（4）从图像处理单元（3）发送图像或图像处理结果，或从外部接收控制信号。
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公开(公告)号：KR100378988B1
公开(公告)日：2003-04-08
申请号：KR1020000063402
申请日：2000-10-27
Applicant: 한국과학기술연구원
IPC: G01N21/00
CPC classification number: H04N13/218 , H04N13/246 , H04N13/254
Abstract: The present invention relates to a three-dimensional visual inspection method of semiconductor packages and apparatus using single camera, which is able to carry out a three-dimensional visual inspection of small-size, high-density semiconductor packages having a large-scale of integration by using a single camera. The present invention presents an optical system that can obtain a stereo image to extract distance information by using an LED light and a single camera, and it also presents a three-dimensional measurement/inspection method using the same.
Abstract translation: 本发明涉及使用单个照相机的半导体封装和设备的三维视觉检查方法，其能够对具有大规模集成的小尺寸，高密度半导体封装进行三维视觉检查 通过使用一台照相机。 本发明提出了一种光学系统，其能够获得立体图像以通过使用LED灯和单个照相机来提取距离信息，并且还提出了一种使用该光学系统的三维测量/检查方法。
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公开(公告)号：KR100372774B1
公开(公告)日：2003-02-25
申请号：KR1020000063401
申请日：2000-10-27
Applicant: 한국과학기술연구원
IPC: G06T17/00
CPC classification number: G06T7/254
Abstract: 본 발명은 컬러정보를 사용한 영상 추적방법에 관한 것으로서, 더 상세하게는 방송국 등에서 주요 영상부분의 수정 녹화, 무인 감시 시스템에서의 사람 얼굴 추적, 통신망을 통한 원격회의 혹은 원격대화 등에서의 화자 추적, 보안을 위한 얼굴 인식시스템에서의 얼굴 영역 설정, 특정 목표물 추적 등 다양한 분야에서 사용할 수 있는 컬러정보를 사용한 목표물 영상 추적방법에 관한 것이다.
본 발명은 목표물의 삼차원 컬러 모델링 단계, 최초 목표물을 감지하기 위한 목표물 감지 단계, 영상 추적을 반복하는 영상추적 단계로 구성된다.
본 발명에 의하면, 조명의 불규칙적인 변화 및 급작스런 변화에 강인하도록 카메라에서 사용한 촬상 소자(CCD 혹은 CMOS)의 특성을 분석하고 그 결과를 스플라인 커브(B-Spline Curve)로 모델링 함으로써 실시간 영상 추적이 가능하고 빠른 목표물의 이동에 적응할 수 있는 효과가 있다.Abstract translation: 使用颜色的视觉跟踪的方法包括目标的三维颜色建模的步骤，用于初始感知目标的目标识别的步骤以及用于重复的视觉跟踪的视觉跟踪的步骤。 为了对于照明的不规则或突然的变化是鲁棒的，本发明提供了一种视觉跟踪方法，其中预先分析由相机使用的拍摄元件（CCD或CMOS）的特性，并且分析结果由 B样条曲线，允许实时视觉跟踪和适应性快速目标运动的情况的影响。
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公开(公告)号：KR100371587B1
公开(公告)日：2003-02-11
申请号：KR1020000077153
申请日：2000-12-15
Applicant: 한국과학기술연구원
IPC: H02P6/00
CPC classification number: H02P7/2805
Abstract: The present invention relates to a flexible and compact motor control module based on the Controller Area Network (CAN) communication network. More specifically, the present invention relates to a motor control module which is based on the ISO11898 standard Controller Area Network (CAN), recognized for its suitability in the communication of intelligent sensors and actuators, and also capable of obtaining the location, speed and torque control commands of a motor and executing digital control functions irrespective of motor's type and power consumption, transmitting feedback data.
Abstract translation: 本发明涉及基于控制器局域网（CAN）通信网络的柔性和紧凑型电机控制模块。 更具体地说，本发明涉及基于ISO11898标准控制器局域网络（CAN）的电动机控制模块，其被认为适用于智能传感器和致动器的通信，并且还能够获得位置，速度和转矩 控制电机的指令并执行数字控制功能，而不管电机的类型和功耗如何，传输反馈数据。
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