DaeSik Kim

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This paper presents an original approach to coding the light patterns for robust depth imaging based on structured light. We have discovered that the degradation of precision and robustness, seen in most conventional approaches to structured light, comes mainly from the overlapping of multiple codes in the signal received at a camera pixel, where the(More)
A Gray code and its variants are popular code-patterns for a structured light system. An n-bit Gray code is a kind of binary code whose adjacent code-strings differ only in one bit position. We introduce a specified Gray code, called an 'antipodal Gray code.' Since the n-bit antipodal Gray code has the additional property that the complement of any(More)
In this paper, we proposed a novel laser line detection method for robot applications using laser scan line. The method is a robust algorithm dealing with many challenges of line detection, particularly in laser line detection, such as the saturation phenomenon of laser light, the effects of white ambient light and the segmentation of laser scan line caused(More)
There has shown a significant interest in a high performance of, at the same time, a compact size and low cost of, 3D sensor, in reflection of a growing need of 3D environmental sensing for service robotics. One of the important requirements associated with such a 3D sensor is that sensing does not irritate or disturb human in any way while working in close(More)
Projector-camera system has been researched for years and it has become more and more popular in 3D vision and many other applications. However, with pre-determined position of projector's lens, projector based researches were not able to deal with the scenes that have objects with different distances from the projector. In this paper, we present a(More)
In this paper, a structured-light-based highly dense and robust 3D reconstruction method is proposed by combining a Gray code and region-shifting pattern. The region-shifting pattern is transformed to the trapezoidal and triangle wave shifting pattern by combining all frames of the region-shifting pattern, and then the boundary of the trapezoidal wave(More)
In many vision-based industrial robot applications, a camera is typically attached to a robot hand and the conversion relationship between the robot hand and the camera must be estimated accurately. Compared to the conventional complicated hand/eye calibration methods, in this paper, we propose a novel vision-based robotic hand/eye self-calibration method(More)