• 제목/요약/키워드: Bird's Eye

검색결과 71건 처리시간 0.028초

개선된 버드아이뷰 변환을 활용한 효율적인 차선 검출 방법 (Efficient Lane Detection Method using Improved Bird's Eye View Transform)

  • 정현석;임석호;윤현주
    • 한국정보처리학회:학술대회논문집
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    • 한국정보처리학회 2017년도 추계학술발표대회
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    • pp.901-904
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    • 2017
  • 차선 검출은 자율주행 자동차의 가장 기본 기능 중의 하나이다. 전방 카메라를 통하여 얻은 입력 영상을 변환하여 주행 방향을 정할 수 있도록 차로를 검출하는 방법은 여러 가지가 있는데, 본 논문에서는 버드아이뷰 영상을 활용하는 방법을 채택하고 여러 가지 성능이 제한적인 임베디드 시스템에서 이를 보다 효율적으로 수행할 수 있도록 EPM(Expected Perspective Mapping) 방법과 변환 영상을 이용해 차로를 검출하는 슬라이딩 윈도우 알고리즘의 개선 방안을 제안한다. 제안된 방법은 기존의 차선 검출 방법에 비해 약 30% 이상 적은 연산량으로 수행할 수 있으면서 기존 방법과 동일한 결과를 생성하여 실시간성이 중요한 상황에서 정확한 차선 검출을 할 수 있음을 보여 준다.

실내 환경에서의 이동로봇의 위치추정을 위한 카메라 센서 네트워크 기반의 실내 위치 확인 시스템 (Indoor Positioning System Based on Camera Sensor Network for Mobile Robot Localization in Indoor Environments)

  • 지용훈
    • 제어로봇시스템학회논문지
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    • 제22권11호
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    • pp.952-959
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    • 2016
  • This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.

비행로봇의 항공 영상 온라인 학습을 통한 지상로봇 검출 및 추적 (UGR Detection and Tracking in Aerial Images from UFR for Remote Control)

  • 김승훈;정일균
    • 로봇학회논문지
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    • 제10권2호
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    • pp.104-111
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    • 2015
  • In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird's eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.

모바일 자율 주행 로봇의 지면 표현을 위한 확장된 적응형 역투영 맵핑 방법 (Extended and Adaptive Inverse Perspective Mapping for Ground Representation of Autonomous Mobile Robot)

  • 박주용;조영근
    • 로봇학회논문지
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    • 제18권1호
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    • pp.59-65
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    • 2023
  • This paper proposes an Extended and Adaptive Inverse Perspective Mapping (EA-IPM) model that can obtain an accurate bird's-eye view (BEV) from the forward-looking monocular camera on the sidewalk with various curves. While Inverse Perspective Mapping (IPM) is a good way to obtain ground information, conventional methods assume a fixed relationship between the camera and the ground. Due to the nature of the driving environment of the mobile robot, there are more walking environments with frequent motion changes than flat roads, which have a fatal effect on IPM results. Therefore, we have developed an extended IPM process to be applicable in IPM on sidewalks by adding a formula for complementary Y-derive processes and roll motions to the existing adaptive IPM model that is robust to pitch motions. To convince the performance of the proposed method, we evaluated our results on both synthetic and real road and sidewalk datasets.

YOLOPv2 와 OpenCV 를 적용한 차선 검출 알고리즘 (Advanced lane detection algorithm using YOLOPv2 and OpenCV)

  • 김호재 ;서동규 ;정인혁 ;황영석 ;박은병
    • 한국정보처리학회:학술대회논문집
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    • 한국정보처리학회 2023년도 추계학술발표대회
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    • pp.1165-1166
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    • 2023
  • 본 논문에서는 YOLOPv2 를 기반으로 OpenCV 를 활용한 후처리 과정을 도입하여 차선 검출 성능을 극대화할 수 있는 알고리즘을 제안한다. 주요 단계로는 YOLOPv2 모델을 활용한 차선 인식, Bird's eye view 변환, Sobel 및 Morphology Filter 를 통한 왜곡 보정, Histogram 기반 차선 검출, 그리고 후처리 알고리즘 적용이 있다. 이 기술은 자율 주행 및 도로 정보 활용 분야에 활용 가능할 것으로 기대되며, 차선 검출 정확도를 향상시킬 수 있다.

효경당계축문(孝敬當啓築文)에 의한 파평윤씨(坡平尹氏) 서윤공파(庶尹公派) 고택(古宅)의 원형(原形) 고찰(考察) (A Study of Original Form of An Old House of Papyeong Yun's Family by an Ancient Document titled 'Hyogyeongdang Gyechukmun')

  • 안준호;이희준;이달훈
    • 한국주거학회논문집
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    • 제18권2호
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    • pp.113-120
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    • 2007
  • This study is to investigate the contents and status of documentary records based on "Hyogyeongdang Gyechukmun" related to the Old House of Papyeong Yun's family. This house is located in Goegok-dong, Daejeon Metropolitan city, and is considered as one of the high-class houses in the mid-Chosun dynasty. The results might be summarized as follows: First, Hyogyeongdang Gyechukmun was written by Yun Seom in 1675 (the 1st year of King Sukjong's reign), which is a kind of general drawing book containing a plane figure and a bird's-eye-view of the old house. It is an important historical record to identify the feature and characteristics of the high-class houses in those days. Second, Papyeong Yun's Old House was founded with five buildings including a shrine, women's quarters, Hyogyeongdang, servants' quarters, and a warehouse. On the southern front, there used to be a pond. Third, the standard measure used to build the old house was about 310.00/尺(chuck). Chuck(尺) is the measuring unit of the Chosun Dynasty.

시설원예 단지의 친환경적 조성 계획의 새만금지역 적용 연구 (Eco-friendly Design of Horticultural Complex through Application of Saemanguem Areas)

  • 손진관;강태경;강동현;임류갑;김창현;박민정;공민재
    • 한국습지학회지
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    • 제22권4호
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    • pp.225-238
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    • 2020
  • 농업경관은 서비스 기능을 제공하는 중요 공간으로 평가받지만 시설원예단지 조성은 환경적, 생태적 문제점이 보고되고 있는 것이 현실이다. 따라서 본 연구에서는 시설원예단지를 보다 친환경적으로 조성하여 지속가능 농업에 기여하고자 진행되었다. 시설원예단지의 친환경적 조성을 위한 계획 요소는 문헌과 전문가 설문으로 도출하였다. 이후 계획요소를 적용하여 마스터플랜과 조감도를 새만금지역에 적용하였다. 기능향상을 위한 투입요소 선정과 배치방법을 분석 한 결과 저류지, 습지, 인공저장 시설, 녹지공간, 수로를 경관과 어울리게 배치하고 건폐율은 55%로 적용하도록 제안받았다. 전문가들에게 제안받은 생태계서비스 기능 향상방안을 적용하여 최종 조감도를 작성하였다. 최종 조감도에는 수질정화시설, 습지와 수로 연결, 투수포장, 녹지 연계 등을 반영하였다. 연구결과는 시설원예 친환경적 조성에 대한 정책 및 예산배정의 기초 자료로 활용하고 국가 생물다양성 및 환경보전에 이바지 하여 지속가능한 농업에 기여 할 수 있을 것으로 기대한다.

소화기 증상을 보이는 소아 정신신체 질환에 대한 정신과적 고찰 (Psychiatric Considerations on Pediatric Psychosomatic Disorders with Gastrointestinal Symptoms)

  • 유한익;백경원
    • Pediatric Gastroenterology, Hepatology & Nutrition
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    • 제12권sup1호
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    • pp.85-92
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    • 2009
  • Gastrointestinal (GI) symptoms in children and adolescents are influenced by diverse psychiatric components such as psychosocial stresses, familial environment, school-related situations, and comorbid psychiatric conditions. Absolutely psychiatric symptoms of pediatric patients are also affected by problems of GI system. Lots of symptoms including anorexia, dyspepsia, nausea and so on are commonly originated from either GI or psychiatric causes or both. Sometimes the negative interactions between GI and psychiatric problems aggravate the severity and eventually decline the functions of children and adolescents with GI symptoms. We summarized the common GI and psychiatric conditions which have GI and psychiatric associations. To a clinician who manages pediatric GI disorders, psychiatric considerations can be beneficial to understand the clinical manifestations of patients and to find the way to relieve them. This short and somewhat superficial review may help to have a bird's-eye view on this topic.

Study on the Environmental Design Principles and Cultural Landscape of the Yangdong Traditional Village

  • Shin, Snag-Sup
    • 한국환경과학회지
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    • 제12권2호
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    • pp.101-109
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    • 2003
  • Yangdong village is located at Kangdong-myun, Kyungju, Kyungsangbuk-do, Korea. There are two major families, the Sons of Wallsung beginned from Son, So(1433∼1484) and the Lees of Yeohkang the descendant of Lee, Unjeok. They are lived together under check and help for 500 years. The village located on the hill of Ankang plain. There are Homyung mountain and Sonaiu peak in front of it and Solchang mountain on the back. 47 shaped ridges form Blue dragon to the east, and White tiger to the west. Ahnrockchon flows from north Joined Hyungsan river and flows into Youngilman. Therefore the village is located at mountain on it's back and along with stream. Buildings are deployed on the valley between hills, it is not easily detected, but it give it's atmosphere of mountain village. Village location and space composition combined with natural environment, folk belief, feng-shui, and social system of confucianism. Blended buildings affected between ruling and ruled classes or among different families shown environmental design accomplishing united cultural space. The prospect of Yangdong village, a mountain village, expressed two sides of visible scenery of open inside and invisible from outside. Observation point such as head family house, pavilion, and village school are deployed at the point taking bird's-eye view, which striving mental stability.

모로코인(人)의 장신구(裝身具)와 화장(化粧)에 관(關)한 연구(硏究) (A Study of the Personal Ornaments and Make-up of Maroccan)

  • 이순홍
    • 패션비즈니스
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    • 제5권2호
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    • pp.15-34
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    • 2001
  • Ornaments are accessories for the decoration of the body or dress. They aren't unavoidably required one, but serve to make one's dress perfect as decorative industrial art objects. In Morocco, ornaments were initially used as a sign of social position or the class or an incantatory symbol. In effect, they were originally employed to adjust one's dress, not just for decoration, and they were of use for household economy. Gold, silver and handcraft available for exchange were a means of increasing one's property and an indication of social standing and wealth. In particular, the dress and jewelry of a bride was a measure of her family's wealth, regarded as a symbol of her chastity and value. The ornaments symbolically back up people's faith in supernatural power, and their real value is based on implicit form or way of decoration, not the external shape. Specifically, there is a tendency to use the form of animal as a protector, not one to frighten people. In the artistic tradition of Morocco, fish pattern stands for water and rain, and eagle and bird are considered to be related to fate. Scorpion and lizard are depicted as an inquirer of sun, and snake is a symbol of abundance and sexual instinct, being viewed to have an ability to cure disease. Turtle pattern is a symbol of saint because it protects one from the evil. The ornaments are made of gold, silver, amber, clam, garnet, glass, nielle, enamel, glaze, coral or tree, and symbolic patterns are used, including hand(a symbol of five numerals), turtle, lizard, scorpion, eye, triangle, bird and eggs. They are very big and diverse, being categorized into ornaments for the head or the chest, neckless, fibula, earring, bracelet and ring. For Moroccans, make-up is a sort of instinctive behavior to meet aesthetic and sexual desire. They also wear make-up for practical purpose of protection, intentionally inflict a wound on the skin for ceremonial or religious purpose, paint the skin with pigment, or have the part of the body tattooed for incantatory purpose. All this actions are regarded as make-up. The raw material of cosmetics is aker, a vegetable dye. They get the lips or cheeks turn red and paint eyebrows with yellow saffran powder to have a bad devil lose its strength. Tattooing is mainly done by women and viewed as a sign of their value or social organization they belong to. Sometimes that is used to represent a woman's being old enough to marry or getting married already or the frequency of marriage. Besides, tattoo is believed to prevent or remedy loose bowels or cough, depending on its location or pattern, and they often change tattoo according to the change of beauty art.

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