• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.627-633
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• 2015

Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.

• Structural Monitoring and Maintenance
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• v.6 no.2
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• pp.161-171
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• 2019

There have been a few checking frameworks intended to ensure and improve the nature of their regular habitat. The greater part of these frameworks are constrained in their capacities. In this paper, the insightful checking framework intended for debacle help and administrations has been exhibited. The ideal administrations, necessities and coming about plan proposition have been indicated. This has prompted a framework that depends fundamentally on ecological examination so as to offer consideration and security administrations to give the self-governance of indigenous habitats. In this sense, ecological acknowledgment is considered, where, in light of past work, novel commitments have been made to help include based and PC vision situations. This epic PC vision procedure utilized as notice framework for avalanche identification depends on changes in the normal landscape. The multi-criteria basic leadership strategy is used to incorporate slope data and the level of variety of the highlights. The reproduction consequences of highlight point discovery are shown in highlight guide coordinating toward discover steady and coordinating component focuses and effectively identified utilizing these two systems, by examining the variety in the distinguished highlights and the element coordinating.

• Journal of Korea Society of Digital Industry and Information Management
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• v.8 no.4
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• pp.159-165
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• 2012

The accurate focusing position should be determined for accurate measurements In VMS. Camera lens focusing is an important problem in computer vision and video measuring systems (VMS) that use CCD cameras and high precision XYZ stages. Camera focusing is a very important step in high precision measurement systems that use computer vision technique. The auto focusing process consists of two steps, the focus value measurement step and the exact focusing position determination step. It is suitable for eliminating high frequency noises with lower processing time and without blurring. An automatic focusing technique is applied to measure a crater with a one-dimensional search algorithm for finding the best focus. Throughout this paper, the suggested algorithm for the Auto focusing was combined with the learning. As a result, it is expected that such a combination would be expanded into the system of recognizing voices in a noisy environment.

• Journal of Biosystems Engineering
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• v.17 no.2
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• pp.143-155
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• 1992

The aim of this study is to develop a general purpose algorithm for analyzing geometrical features of agricultural products and microscopic particles regardless of their numbers, shapes and positions with a computer vision system. Primarily, boundary informations of an image were obtained by Scan Line Coding and Scan & Chain Coding methods and then with these informations, geometrical features such as area, perimeter, lengths, widths, centroid, major and minor axes, equivalent circle diameter, number of individual objects, etc, were analyzed. The algorithms developed in this study was evaluated with test images consisting of a number of randomly generated ellipsoids or a few synthesized diagrams having different features. The result was successful in terms of accuracy.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.4
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• pp.78-87
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• 1995

Specular reflection appears with metals, plastics, glasses and many other solid objects which are required to be inspected, assembled, moved, or processed automatically. Recongnizing such shiny objects with specular reflections is a hard problem for computer vision, since specular reflections appear, disappear, or change their shapes abruptly, due to tiny movements of the view. Traditionally, such specular reflections are discarded as annoying noise for recongnition purposes. In this paper a technique is represented for obtaining shapes of specular objects. The ring illumin- ation system employes a ring source which is positioned on the axis of the camera. The concept of the proposed method is that if specular objects are illuminated by the ring they show their own dis- tinctive specularity features in surface from which we can infer the shape of the object. A series of experiments are performed to evaluate the performance of this system.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.6
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• pp.470-476
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• 2001

This paper presents a new algorithm of path planning and obstacle avoidance for autonomous mobile robots with vision system that is working in unknown environments. Distance variation technique is used in path planning to approach the target and avoid obstacles in work space as well . In this approach, the Sobel operator is employed to detect edges of obstacles and the distances between the mobile robot and the obstacles are measured. Fuzzy rules are used for trajectory planning and obstacle avoidance to improve the autonomy of mobile robots. It is shown by computer simulation that the proposed algorithm is superior to the vector field approach which sometimes traps the mobile robot into some local obstacles. An autonomous mobile robot with single vision is developed for experiments. We also show that the developed mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1131-1135
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• 2005

Since human is vulnerable to emotional, physical and environmental distractions, most human inspectors cannot sustain a consistent 8-hour inspection in a day specifically for small components like door locking levers. As an alternative for human inspection, presented in this study is the development of a machine vision inspection system (MVIS) purposely for door locking levers. Comprises the development is the structure of the MVIS components, designed to meet the demands, features and specifications of door locking lever manufacturing companies in increasing their production throughput upon keeping the quality assured. This computer-based MVIS is designed to perform quality measures of detecting missing portions and defects like burr on every door locking lever. NI Vision Builder software for Automatic Inspection (AI) is found to be the optimum solution in configuring the needed quality measures. The proposed software has measurement techniques such as edge detecting and pattern-matching which are capable of gauging, detecting missing portion and checking alignment. Furthermore, this study exemplifies the incorporation of the optimized NI Builder inspection environment to the pre-inspection and post-inspection subsystems.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.179-186
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• 2015

In this paper, a novel lateral control system is proposed for the purpose of improving lane keeping performance which is independent from GPS signals. Lane keeping is a key function for the realization of unmanned driving systems. In order to obtain this objective, a vision sensor based real-time lane detection scheme is developed. Furthermore, we employ a data fusion along with a real-time steering angle of the test vehicle to improve its lane keeping performance. The fused direction data can be obtained by an IMU sensor and vision sensor. The performance of the proposed system was verified by computer simulations along with field tests using MOHAVE, a commercial vehicle from Kia Motors of Korea.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.41-43
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• 2021

Robot Operating System (ROS) has been a prominent and successful framework used in robotics business and academia.. However, the framework has long been focused and limited to navigation of robots and manipulation of objects in the environment. This focus leaves out other important field such as speech recognition, vision abilities, etc. Our goal is to take advantage of ROS capacity to integrate additional libraries of programming functions aimed at real-time computer vision with a depth-image camera. In this paper we will focus on the implementation of an upgraded vision with the help of a depth camera which provides a high quality data for a much enhanced and accurate understanding of the environment. The varied data from the cameras are then incorporated in ROS communication structure for any potential use. For this particular case, the system will use OpenCV libraries to manipulate the data from the camera and provide a face-detection capabilities to the robot, while navigating an indoor environment. The whole system has been implemented and tested on the latest technologies of Turtlebot3 and Raspberry Pi4.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.3
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• pp.116-123
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• 1990

Most algorithms utilized the horizontal epipolar lines for solving the correspondence problem in 3-D computer vision. However, the requirement is very difficult to be satisfied in real situations. In this paper, we propose a binocular-stereo matching algorithm, based on line matching method, which does not require the horizontal epipolar lines of the extreme pixels of a given line segment and two circles whose radius is equal to the maximum disparity. And we use the features including the direction of line segments, edge strength and cross-correlation for line matching. The experimental results show that the proposed algorithm can be a useful tool for solving the correspondence problem in 3-D computer vision.