• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.529-539
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• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2009.11a
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• pp.202-206
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• 2009

We studied the spray characteristics of the high-speed rotating fuel injection system. The diameter of in-line injection orifices are varied from 1mm to 5mm and the number of in-line injection orifices are varied from 3 to 12. Droplet size, velocity and spray distribution were measured by the PDPA(Phase Doppler Particle Analyzer) system and spray was visualized. From the test results, the liquid column generated from the injection orifice is mainly controlled by the rotational speeds. Also diameter of injection orifices and number of injection orifices have influence on the diameters of droplet. Consequently, we find out that the basic mechanism of controlling the droplet size is the liquid film thickness in the injection orifice.

• Journal of Broadcast Engineering
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• v.14 no.6
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• pp.742-748
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• 2009

Most commercial digital still cameras use a single sensor array (e.g., CMOS or CCD) with color filter array (CFA) to reduce the cost and size. Since the image obtained with CFA has only one color value per pixel, the demosaicing is needed to acquire missing two color values. Although many demosaicing methods have been proposed, they still have artifacts such as rainbow and zippering artifact. In this paper, we propose the simple demosaicing algorithm using tendency of neighbor pixels with the enhanced weighting function. In the experimental results, our algorithm shows much better subjective qualities of the images than conventional demosaicing algorithm and improves objective qualities.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.6
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• pp.141-146
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• 2012

This paper introduces development of multi-rotor system and vision based autonomous landing system. Multi-rotor platform is modeled by rigid body motion with Newton Euler concept. Also Multi-rotor platform is simulated and tuned by LQR control algorithm. Vision based Autonomous Landing system uses a single camera that is mounted Multi-rotor system. Augmented reality algorithm is used as marker detection algorithm and autonomous landing code is test with GCS for the precision landing.

• Journal of the Korea Society of Computer and Information
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• v.19 no.12
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• pp.197-207
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• 2014

In this paper, I propose an automatic extraction method of golf swing features using a practical TOF camera Kinect. I extracted 7 key swing frames and features using joints and depth information from a Kinect. I tested the proposed method on 50 swings from 10 players and showed the performace. It is meaningful that 3D swing features are extracted automatically using an inexpensive and simple system and specific numerical feature values can be used for the building of automatic swing analysis system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.54-61
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• 2012

In this paper, the pose estimation method for the satellite GTB (Ground Test Bed) using vision/MEMS IMU (Inertial Measurement Unit) integrated system is presented. The GTB for verifying a satellite system on the ground is similar to the mobile robot having thrusters and a reaction wheel as actuators and floating on the floor by compressed air. The EKF (Extended Kalman Filter) is also used for fusion of MEMS IMU and vision system that consists of a single camera and infrared LEDs that is ceiling landmarks. The fusion filter generally utilizes the position of feature points from the image as measurement. However, this method can cause position error due to the bias of MEMS IMU when the camera image is not obtained if the bias is not properly estimated through the filter. Therefore, it is proposed that the fusion method which uses the position of feature points and the velocity of the camera determined from optical flow of feature points. It is verified by experiments that the performance of the proposed method is robust to the bias of IMU compared to the method that uses only the position of feature points.

• Proceedings of the Korea Contents Association Conference
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• 2004.05a
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• pp.396-400
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• 2004

In this study, we have proposed the tracking system of single moving object. The tracking system was estimated motion using differential image, and than track the moving object by controlled Pan/Tilt device of camera. Proposed tracking system is devided into image acquisition and preprocessing phase, motion estimation phase and object tracking phase. To estimation the motion, differential image method was used. In the binary differential image, decision of threshold value was used adaptive method. And in grouping the object area, block_based recursive labeling algorithm was used. As a result of experiment, motion of moving object can be estimated. The result of tracking, object was not lost and object was tracked correctly.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.75-77
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• 2012

In this paper, We proposed that real-time pupil detection using local binarization at each region of eyes in image. In image obtained a single low-resolution web-camera, we detect a region of face using haar-like feature and then detect each region of eyes depending upon the rate of width and height of region of face respectively. In each region of eyes, we detect the pupil after local preprocessing and binarizing. This pupil detection can be variously used for HCI(Human-Computer Interface) systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.442-448
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• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Journal of the Korean Society of Visualization
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• v.2 no.1
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• pp.39-45
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• 2004

A time-resolved two-phase PIV system using a single camera has been developed, which introduces a method of image separation into respective phase images, and is applied to freely rising single bubble. Gas bubble, tracer particle and background have different gray intensity ranges on the same image frame when reflection and dispersion in the phase interface are intrinsically eliminated by optical filters and fluorescent particles. Further, the signals of the two phases do not interfere with each other. Gas phase velocities are obtained from the separated bubble image by applying the two-frame PTV. On the other hand, liquid phase velocities are obtained from the tracer particle image by applying the cross-correlation algorithm. As a result, the bubble rises rectilinearly just after it is released from an injector and then has a zigzag motion in the far field. From the trajectory of the bubble, it is found that the period of the zigzag motion is closely related to the vortex shedding although the wavelength of it varies along its movement.