• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.5
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• pp.735-743
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• 2012

In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kalman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.11
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• pp.2349-2354
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• 2009

Due to growth of electronics and control devices, automation and situational awareness systems have been applied by automobile. Vision systems with the introduction of unmanned system being actively developed, but are still high price and visual information is passed through the cable, because of cars are difficult to install. In this paper, can be installed inside the car at low-cost, simple image processing device through a wireless communication know the obstacles and the alarm system based on Zigbee wireless communication, infrared and ultrasonic sensors to monitor the situation through with easy parking cars outside the system design was implemented.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.355-358
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• 2009

Due to growth of electronics and control devices, automation and situational awareness systems have been applied by automobile. Vision systems with the introduction of unmanned system being actively developed, but are still high price and visual information is passed through the cable, because of cars are difficult to install. In this paper, can be installed inside the car at low-cost, simple image processing device through a wireless communication know the obstacles and the alarm system based on Zigbee wireless communication, infrared and ultrasonic sensors to monitor the situation through with easy parking cars outside the system design was implemented.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.803-811
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• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.496-504
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• 2009

This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.279-286
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• 2012

Recently, design of Universal Soft Controller(USC) has been applied to the advanced control room for nuclear power plant. USC is software-based manual control means to control safety components as well as non-safety components in the highly-integrated control room. Therefore, design feature of USC is essential for the implementation of a single workstation in the advanced control room. The traditional control room is replaced by computer-driven consolidated operator interfaces. Considering our design has further reduced the probability of USC spurious signals by requiring two distinct operator control actions to generate any control signal. The reality of USC does not increase the probability of reactor trip because the probability of spurious USC signal is negligible. Universal Soft Control represents a significant evolution in nuclear I&C/HSI System. USC integrates the indicators and controls from multiple divisions into a single integrated visual display unit(VDU) based HSI(Human System Interface). In order to prevent adverse influence on safety function performance from USC failure, ESFAS signals are applied to safety components or functions. In addition, safety manual switches have priority over USC's signals. Therefore, spurious USC signals can be momentarily blocked by selecting a soft control command from the safety VDU.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.1
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• pp.191-197
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• 2007

Vision system is an object recognition system analyzing image information captured through camera. Vision system can be applied to various fields, and vehicle recognition is ole of them. There have been many proposals about algorithm of vehicle recognition. But have complex calculation processing. So they need long processing time and sometimes they make problems. In this research we suggested vehicle type recognition system using vision bpx based on embedded platform. As a result of testing this system achieves 100% rate of recognition at the optimal condition. But when condition is changed by lighting, noise and angle, rate of recognition is decreased as pattern score is lowered and recognition speed is slowed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.7
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• pp.1564-1572
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• 2011

In this paper, we propose a new histogram based hand recognition algorithm for augmented reality. Hand recognition system makes it possible a useful interaction between an user and computer. However, there is difficulty in vision-based hand gesture recognition with viewing angle dependency due to the complexity of human hand shape. A new hand recognition system proposed in this paper is based on the features from hand geometry. The proposed recognition system consists of two steps. In the first step, hand region is extracted from the image captured by a camera and then hand gestures are recognized in the second step. At first, we extract hand region by deleting background and using skin color information. Then we recognize hand shape by determining hand feature point using histogram of the obtained hand region. Finally, we design a augmented reality system by controlling a 3D object with the recognized hand gesture. Experimental results show that the proposed algorithm gives more than 91% accuracy for the hand recognition with less computational power.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.4 s.310
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• pp.66-73
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• 2006

Safety is the most important for all traffic management and control technology. This paper focuses on developing a flexible, reliable and real-time processing algorithm which is able to generate signal for the entering vehicle at the joining road through a camera and image processing technique. The images obtained from the camera located beside and upon the road can be used for traffic surveillance, the vehicle's travel speed measurement, predicted arriving time in joining area between main road and joining road. And the proposed algorithm displays the confluence safety signal with red, blue and yellow color sign. The three methods are used to detect the vehicle which is driving in setted detecting area. The first method is the gray scale normalized correlation algorithm, and the second is the edge magnitude ratio changing algorithm, and the third is the average intensity changing algorithm The real-time prototype confluence safety signal generation algorithm is implemented on stored digital image sequences of real traffic state and a program with good experimental results.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.159-166
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• 2016

In this paper, an active object tracking system basing on the pan/tilt-embedded stereo camera system is suggested and implemented. In the proposed system, once the face area of a target is detected from the input stereo image by using a YCbCr color model and phase-type correlation scheme and then, using this data as well as the geometric information of the tracking system, the distance and 3D information of the target are effectively extracted in real-time. Basing on these extracted data the pan/tilted-embedded stereo camera system is adaptively controlled and as a result, the proposed system can track the target adaptively under the various circumstance of the target. From some experiments using 480 frames of the test input stereo image, it is analyzed that a standard variation between the measured and computed the estimated target's height and an error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 1.03 and 1.18% on average, respectively. From these good experimental results a possibility of implementing a new real-time intelligent stereo target tracking and surveillance system using the proposed scheme is finally suggested.