• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.7-18
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• 2005

A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.

• Journal of the Korea Society of Computer and Information
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• v.6 no.2
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• pp.14-19
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• 2001

This paper presents a new method of 3-D surface feature extraction using a quadratic pol expression. With a range image, we get an edge map through the modified scan line technique this edge map, we label a 3-dimensional object to divide object's region and extract cent corner points from it's region. Then we determine whether the segmented region is a planar or a curved from the quadric surface equation. we calculate the coefficients of the planar su the curved surface to represent regions. In this article. we prove performance of the metho synthetic and real (Odetics) range images.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.73-79
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• 2000

The part-surface of mold or stamping-dies consists of a compound surface which consists of lots of composite surfaces, and may have various types of feature shapes including convex sharp edge (CSE). Those CSE features should be considered with care in machining the surface, which necessitates extraction of CSE curves on a compound surface. This work can be done rather easily for a solid model which has a complete topology information. In case of the compound surface without topology information, however, such CSE curves must be gathered through some geometrical calculations paying much computation time. In the paper, extracting CSE curves by the construction of a CSE region-map which can reduce time, and detecting various common edge types are presented.

• Journal of information and communication convergence engineering
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• v.12 no.3
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• pp.193-197
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• 2014

Edges are a robust feature for object detection. In this paper, we present an edge-based background modeling method for the detection of moving objects. The edges in the image frames were mapped using robust Canny edge detector. Two edge maps were created and combined to calculate the ultimate moving-edge map. By selecting all the edge pixels of the current frame above the defined threshold of the ultimate moving edges, a temporary background-edge map was created. If the frequencies of the temporary background edge pixels for several frames were above the threshold, then those edge pixels were treated as background edge pixels. We conducted a performance comparison with previous works. The existing edge-based moving-object detection algorithms pose some difficulty due to the changes in background motion, object shape, illumination variation, and noises. The result of the performance evaluation shows that the proposed algorithm can detect moving objects efficiently in real-world scenarios.

• Proceedings of the KSRS Conference
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• 2006.03a
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• pp.169-172
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• 2006

본 논문에서는 1m 해상도의 위성영상으로부터 건물의 경계선을 검출하기 위해 영상분할과 변이지도(disparity map)를 이용하는 새로운 방법을 제안한다. Watershed 방법으로 영상을 분할하고 분할된 영역 내부의 변이를 다중정합창틀(multiple matching window)과 결합된 다차원특징벡터정합(multi-dimensional feature vector matching)을 이용하여 계산한다 분할된 인접 영역들 가운데 panchromatic 및 multispectral 밝기값과 변이의 평균값이 유사하면 두 영역을 결합하여 하나의 영역을 생성하고 이 과정을 반복적으로 수행한다. 영역의 평균 변이값이 기준 값보다 크면 이를 건물 지붕 영역으로 결정한다. IKONOS 위성영상에 제안한 방법을 적용하여 작은 건물이 밀집되어 있는 도시 지역에서 건물 지붕의 영역과 경계선을 효과적으로 검출할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.34.5-34
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• 2002

In this paper we propose a new method for modeling indoor environment with stereo camera and suggest a localization method for mobile robot navigation on the basis of it. From the viewpoint of easiness in map building and exclusion of artificiality, the main idea of this paper is that environment is represented as global topological map and each node has omni-directional metric and color information by using stereo camera and pan/tilt mechanism. We use the depth and color information itself in image pixel as feature for environmental abstraction. In addition, we use only the depth and color information at horizontal centerline in image, where optical axis is passing. The usefulness of this m...

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.54-61
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• 1999

FCM(Fuzzy Cognitive Map) is proposed for representing causal reasoning. Its structure allows systematic causal reasoning through a forward inference. By using the FCM, authors have proposed FCM-based fault diagnostic algorithm. However, it can offer multiple interpretations for a single fault. In process engineering, as experience accumulated, some form of quantitative process knowledge is available. If this information can be integrated into the FCM-based fault diagnosis, the diagnostic resolution can be further improved. The purpose of this paper is to propose an enhanced FCM-based fault diagnostic scheme. Firstly, the membership function of fuzzy set theory is used to integrate quantitative knowledge into the FCM-based diagnostic scheme. Secondly, modified TAM recall procedure is proposed. Considering that the integration of quantitative knowledge into FCM-based diagnosis requires a great deal of engineering efforts, thirdly, an automated procedure for fusing the quantitative knowledge into FCM-based diagnosis is proposed by utilizing self-learning feature of neural network. Finally, the proposed diagnostic scheme has been tested by simulation on the two-tank system.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.12
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• pp.1591-1602
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• 1995

A hybrid approach which includes edge- and region-based methods is considered. The modified non-linear Laplacian(MNL) filter is used for feature extraction. The matching algorithm has three steps which are edge, signed region, and residual region matching. At first, the edge points are matched using the sign and direction of edges. Then, the disparity is propagated from edge to inside region. A variable window is used to consider the local method which give accurate matched points and area-based method which can obtain full-resolution disparity map. In addition, a new relaxation algorithm for considering matching possibility derived from normalized error and regional continuity constraint is proposed to reduce the mismatched points. By the result of simulation for various images, this algorithm is insensitive to noise and gives full- resolution disparity map.

• Journal of the Semiconductor & Display Technology
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• v.8 no.4
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• pp.95-100
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• 2009

This paper presents an efficient disparity matching, using sum of absolute difference (SAD) and dynamic programming (DP) algorithm. This algorithm makes use of one of area-based algorithm which is the absolute sum of the pixel difference corresponding to the window size. We use the information of the right eye brightness (B) and the left eye brightness to get an best matching results and apply the results to the left eye image using the window go by the brightness of the right eye image. This is that we can control the brightness. The major feature of this algorithm called SAD+DP+B is that although Root Mean Square (RMS) performance is slightly less than SAD+DP, due to comparing original image, its visual performance is increased drastically for matching the disparity map on account of its matching compared to SAD+DP. The simulation results demonstrate that the visual performance can be increased and the RMS is competitive with or slightly higher than SAD+DP.

• Proceedings of the KIEE Conference
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• 1997.07c
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• pp.1130-1132
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• 1997

This paper proposed an application of artificial neural networks to security assessment(SA) in power system. The SA is a important factor in power system operation, but conventional techniques have not achieved the desired speed and accuracy. Since the SA problem involves classification, pattern recognition, prediction, and fast solution, it is well suited for Kohonen neural network application. Self organizing feature map(SOFM) algorithm in this paper provides two dimensional multi maps. The evaluation of this map reveals the significant security features in power system. Multi maps of multi prototype states are proposed for enhancing the versatility of SOFM neural network to various operating state.