로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제9권3호
  • /
  • Pages.140-146
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  • 2014
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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윤곽선의 선분 근사화를 활용한 양팔 화가 로봇의 개발

Development of a Dual-Arm Drawing Robot using Line Segment Approximation of Image Edges

  • Kim, Jung-Kyu (Dept. of Information & Communications Engineering, Hansung University) ;
  • Lee, Sang-Pil (Dept. of Information & Communications Engineering, Hansung University) ;
  • Jung, Hye-Lim (Dept. of Information & Communications Engineering, Hansung University) ;
  • Cho, Hye-Kyung (Dept. of Information & Communications Engineering, Hansung University)
  • 투고 : 2014.07.22
  • 심사 : 2014.08.08
  • 발행 : 2014.08.28
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초록

This paper introduces a dual-arm robot painter system which is capable of sketching a camera-captured image with short line segments. To express various curved edges in the image by combining line segments, we first apply edge detection algorithm to the entire image, split the edged image into small boxed pieces, and then apply Hough Transformation to each piece so that the edges inside the piece can be approximated with short line segments. To draw the picture within a reasonable time, we designed a simple dual-arm robot system and controlled both arms concurrently according to linear interpolation algorithm. From the experiments, we could verify that simple linear motions can describe various images effectively with a unique brush style.

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과제정보

연구 과제 주관 기관 : Ministry of Trade, Industry, and Energy(MOTIE, Korea)

참고문헌

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  11. D. Cho et al., "Facial Feature Tracking Using Adaptive Particle Filter and Active Appearance Model", Journal of Korea Robotics Society, Vol. 8, No. 2, 2013. https://doi.org/10.7746/jkros.2013.8.2.104
  12. B. Ahn et al., "Robust Real-time Tracking of Facial Features with Application to Emotion Recognition", Journal of Korea Robotics Society, Vol. 8, No. 4, 2013. https://doi.org/10.7746/jkros.2013.8.4.266

피인용 문헌

  1. 확률적인 소실점 추정 기법에 기반한 강인한 송전선 검출 방법 vol.10, pp.1, 2015, https://doi.org/10.7746/jkros.2015.10.1.009