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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Pang, Lei Cao, Zhiqiang Yu, Junzhi Liang, Shuang Chen, Xuechao Zhang, Weimin State Key Lab Management and Control for Complex Systems Institute of Automation CAS Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Dept. Mech. Eng. Sci. BIC-ESAT College of Engineering Peking University Beijing100871 China BAICIRS Beijing100081 China Intell. Robot. Inst. Beijing Inst. Technol. Beijing100081 China

ISBN: (纸本)9781728163215

Pedestrian detection plays an important role in the environmental perception and autonomous navigation for robotics, which provides critical information for the safe operation in complex environments. In this paper, a 3D pedestrian detector with calibrated LiDAR and RGB Camera is proposed, which takes full advantage of the precise range information of 3D LiDAR scanner and semantic information acquired from RGB image. The proposed approach integrates the segmented object clusters of point cloud and 2D bounding boxes generated by a visual object detector. The point cloud is segmented by a three-step segmentation approach, which can segment point cloud with both high precision and high efficiency. By fusion multi-sensor information in the image domain, the proposed approach provides 3D information of pedestrians in both LiDAR and camera coordinate systems. Experiments was conducted to evaluate the performance of the proposed approach. © 2019 IEEE.

关键词： Cameras

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Wavelet transform based defect detection for PCB inspection machines

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Transactions of the Korean Institute of Electrical Engineers 2017年第10期66卷 1508-1515页

作者： Youn, Seung-Geun Kim, Young-Gyu Park, Tae-Hyung School of Electronics Engineering Chungbuk National University Korea Republic of Unieye Co. Korea Republic of Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of

This paper proposes the defect detection method for automatic inspection machines in printed circuit boards (PCBs) manufacturing system. The defects of PCB such as open, short, pin hole and scratch can be detected by comparing the standard image and the target image. The standard image is obtained from CAD file such as ODB++ format, and the target image is obtained by arranging, filtering and binarization of captured PCB image. Since the PCB size is too large and image resolution is too high, the image processing requires a lot of memory and computational time. The wavelet transform is applied to compress the standard and target images, which results in reducing the memory and computational time. To increase the inspection accuracy, we utilize the he HH-domain as well as LL-domain of the transformed images. Experimental results are finally presented to show the performance improvement of the proposed method. Copyright The Korean Institute of Electrical Engineers.

关键词： Wavelet transforms

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Mura defect detection of display panel using gabor wavelet transformation and image post-processing

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Journal of Institute of control, robotics and Systems 2017年第4期23卷 287-293页

作者： Lee, Hwang-Ju Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronics Engineering Chungbuk National University Korea Republic of

We propose a mura defect detecting method for the display panel inspection machines. Detecting the mura defects of display panel is difficult due to non-uniform brightness background and slightly different brightness levels between the defect region and the background. In order to separate the background and the defect region, we developed a new reconstruction algorithm based on Garbor wavelet transformation. The defect region was then enhanced by post-processing of the reconstructed image. Both of the accuracy and the speed for detecting the mura defect are improved. Experiment results verified that the proposed method is useful and efficient for detecting the mura defects of the display panel. © ICROS 2017.

关键词： Defects

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Defect classification method of PCB solder joint by color features and region segmentation

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Journal of Institute of control, robotics and Systems 2017年第12期23卷 1086-1091页

作者： Song, Ji-Deok Kim, Young-Gyu Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of School of Electronic Engineering Chungbuk National University Korea Republic of

This paper proposes a solder joint inspection method based on region segmentation and color feature extraction. This paper classifies various types of solder joint by an inspection procedure that is divided into a feature extraction stage and classification stage. In the feature extraction stage, a solder joint image is divided into several sub-regions, and then various color features are extracted from every sub-region. In the classification stage, classifiers are generated by training color features extracted from several samples. Finally, the inspection of solder joint defects is performed using the color features of the test samples. The performance of the proposed method is evaluated by inspecting ten types of solder joint defect. The experimental results have verified this method's effectiveness in terms of recognition rate and speed. © ICROS 2017.

关键词： Printed circuit boards

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EKF-based simultaneous localization and mapping of mobile robot using laser corner pattern matching

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Transactions of the Korean Institute of Electrical Engineers 2016年第12期65卷 2094-2102页

作者： Kim, Tae-Hyeong Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of

In this paper, we propose an extended Kalman filter(EKF)-based simultaneous localization and mapping(SLAM) method using laser corner pattern matching for mobile robots. SLAM is one of the most important problems of mobile robot. However, existing method has the disadvantage of increasing the computation time, depending on the number of landmarks. To improve computation time, we produce the corner pattern using classified and detected corner points. After producing the corner patterns, it is estimated that mobile robot's global position by matching them. The estimated position is used as measurement model in the EKF. To evaluated proposed method, we preformed the experiments in the indoor environments. Experimental results of proposed method are shown to maintain an accuracy and decrease the computation time. Copyright © 2016 The Korean Institute of Electrical Engineers.

关键词： Mobile robots

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Localization of mobile robots by full detection of ceiling outlines

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Transactions of the Korean Institute of Electrical Engineers 2016年第7期65卷 1283-1289页

作者： Kim, Young-Gyu Park, Tae-Hyoung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of Dept. of Electronics Engineering Chungbuk National University Korea Republic of

In this paper, we propose a new localization system using ceiling outlines. We acquire the entire ceiling image by using fisheye lens camera, and extract the lines by binarization and segmentation. The optical flow algorithm is then applied to identify the ceiling region from the segmented regions. Finally we obtain the position and orientation of the robot by the center position and momentum of ceiling region. Since we use the fully detected outlines, the accuracy and reliability of the localization system is improved. The experimental result are finally presented to show the effectiveness of the proposed method. Copyright © The Korean Institute of Electrical Engineers.

关键词： Mobile robots

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Automatic classification of SMD packages using neural network

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Journal of Institute of control, robotics and Systems 2015年第3期21卷 276-282页

作者： Youn, Seung Geun Lee, Youn Ae Park, Tae Hyung Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of

This paper proposes a SMD (surface mounting device) classification method for the PCB assembly inspection machines. The package types of SMD components should be classified to create the job program of the inspection machine. In order to reduce the creation time of job program, we developed the automatic classification algorithm for the SMD packages. We identified the chip-type packages by color and edge distribution of the images. The input images are transformed into the HSI color model, and the binarized histroms are extracted for H and S spaces. Also the edges are extracted from the binarized image, and quantized histograms are obtained for horizontal and vertical direction. The neural network is then applied to classify the package types from the histogram inputs. The experimental results are presented to verify the usefulness of the proposed method. © ICROS 2015.

关键词： Image classification

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Visual touch recognition for NUI using Voronoi-tessellation algorithm

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Transactions of the Korean Institute of Electrical Engineers 2015年第3期64卷 465-472页

作者： Kim, Sung Kwan Joo, Young Hoon Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of Dept. of Control and Robot Engineering Kunsan National University Korea Republic of

This paper presents a visual touch recognition for NUKNatural User Interface) using Voronoi-tessellation algorithm. The proposed algorithms are three parts as follows: hand region extraction, hand feature point extraction, visual-touch recognition. To improve the robustness of hand region extraction, we propose RGB/HSI color model, Canny edge detection algorithm, and use of spatial frequency information. In addition, to improve the accuracy of the recognition of hand feature point extraction, we propose the use of Douglas Peucker algorithm, Also, to recognize the visual touch, we propose the use of the Voronoi-tessellation algorithm. Finally, we demonstrate the feasibility and applicability of the proposed algorithms through some experiments. Copyright © The Korean Institute of Electrical Engineers.

关键词： User interfaces

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Grid-based output control for wind farm using PSO

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Transactions of the Korean Institute of Electrical Engineers 2014年第8期63卷 1092-1097页

作者： Moon, I.L. Kwon Joo, Young Hoon Dept. of Control and Robot Engineering Kunsan National University Korea Republic of

In this paper, we propose the grid-based output control method for wind farm. To do this, we propose the output control method using the PSO(Particle Swarm Optimization) algorithm. Secondly, we propose the method for detecting the harmonics using STFT(Short-Time Fourier Transform) algorithm. And last, we propose the method for compensating the harmonics using neural network. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

关键词： Particle swarm optimization (PSO)

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A landmark based localization system using a kinect sensor

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Transactions of the Korean Institute of Electrical Engineers 2014年第1期63卷 99-107页

作者： Park, Kwiwoo Chae, JeongGeun Moon, Sang-Ho Park, Chansik Dept. of Control and Robot Engineering Chungbuk National University Korea Republic of Division of Computer Technology Yeungnam College of Scienceand Technology Korea Republic of

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the dept. value using color and dept. images. The coordinates transforms are defined using the dept. value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between dept. and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and dept. value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space(3,500mm *3,000mm*2,500m).

关键词： Error compensation

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