• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.10
• /
• pp.822-831
• /
• 2003

A computer-vision based pipe-inspection algorithm is developed. The algorithm uses the modified Hough transformation and a line-scanning approach to identify the edge line and the radius of the pipe image, from which the eccentricity and dimension of the pipe-end is calculated. Line and circle detection was performed using Laplace operator with input image, which are acquired from the front and side cameras. In order to minimize the memory usage and the processing time, a clustering method with the modified Hough transformation is introduced for line detection. The dimension of inner and outer radius of pipe is calculated by the proposed line-scanning method. The method scans several lines along the X and Y axes, calculating the eccentricity of inner and outer circle, by which pipes with wrong end-shape can be classified and removed.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.19 no.11
• /
• pp.2094-2105
• /
• 1994

This paper contains a Hough transform based projection method derived from Radon transform for tracking dim unresolved(sub-pixel) moving targets that move along straight line parths across a time sequential image data. In contrast to several recently presented Hough transform methods using a compressed image referred to as the track map our proposed technique utilizing a set of projections taken along arbitrary orientations effectively increases the changes of target detection, and creates a robust track estimation environment by incorporating all the available knowledge obtained from the projections. Moreover, in order to quantitatively assess the estimation capability of the projection-based Hough transform algorithm, the analytical bounds on the Hough space parameter errors introduced by image space noise contamination are derived. The simulation yielded promising results of estimating the track parameters even under low signal to noise rations when our technique was tested against the time sequential sets of real infrared image data referred to as the HiCamps.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.12 s.177
• /
• pp.61-69
• /
• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.1496-1499
• /
• 2004

The paper persents an efficient method of extracting line segment in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the simplified Bayesian updating model. The probabilities and orientations of cells in the grid map are continuously updated while the robot explorers to their values. The line segments are, then, extracted from the clusters using Hough transform methods. The eng points of a line segment are evaluated from the cells in each cluster, which is simple and efficient comparing to existing methods. The proposed methods are illustrated by sets of experiments in an indoor environment.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.5 no.3
• /
• pp.245-250
• /
• 2010

In this paper, an efficient extraction technique of power lines is proposed. Power line extraction technique is used to operate unmanned autonomous vehicles. To achieve the extraction of power lines, an angle space segmentation and grouping method of Hough transform are developed. In simulation results for the proposed algorithm, our algorithm shows a good detection results in experiments for several aerial images which contain different line components.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.80-83
• /
• 2005

A binocular robot vision system having an autonomously moving active viewpoint is proposed. By using this active viewpoint, the system constructs a correspondence between the images of a feature points on the right and left retinas and calculates the spatial coordinates of the feature points. The system incorporates a function of detecting straight lines in an image. To detect lines the system uses Hough transform. The system searches a region surrounded by 4 straight lines. Then the system recognizes the region as a quadrangle. The system constructs a correspondence between the quadrangles in the right and left images. By the use of the result of the constructed correspondence, the system calculates the spatial coordinates of an object. An experiment shows the effect of the line detection using Hough transform, the recognition of the surface of the object and the calculation of the spatial coordinates of the object.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.31B no.9
• /
• pp.142-149
• /
• 1994

Hangul is expressed by the basic elements, twenty-four characters. Because these characters are composed of a circle and lines, Hough transform(HT), which has a powerful performance on the noise in extracting lines, is introduced. Many difficulties often occur when the original HT is used to extract strokes and it's direction, position and length from handwritten Hangul characters. Original HT has eight direction selected as samples in the transformed image should be calculated for these eight directions. In this paper, the generalized sampling rule is suggested. According to the rule, those directions which are possible to a line are the only thing to be calculated. The experoment result turned out to be higher than the method that Chen suggested in sampling rate. Anogher experiment result is done on the 1800 handwritten Hangul characters that 10 persons wrote. By feature extracting the oritinal HT and sampling HT. And as a result of six type classification, the suggested method came out higher than original HT.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.946-950
• /
• 2003

In this paper, a computer-vision based pipe shape inspection algorithm is developed. The algorithm uses the modified Hough transformation and a line-scanning approach to identify the edge line and radius of the pipe image, from which the eccentricity and dimension of the pipe-end is calculated. Line and circle detection was performed using Laplace operator with input image, which are acquired from the front and side cameras. In order to minimize the memory usage and the processing time, a clustering method with the modified Hough transformation for line detection. The dimension of inner and outer radius of pipe is calculated by proposed line-scanning method. The method scans several lines along the X and Y axes, calculating the eccentricity of inner and outer circle. by which pipes with wrong end-shape can be classified removed.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.521-525
• /
• 2002

In this paper, a computer-vision based pipe-inspection algorithm is developed. The algorithm uses the modified Hough transformation and a line-scanning approach to identify the edge line and radius of the pipe image, from which the eccentricity and dimension of the pipe-end is calculated. Line and circle detection was performed using Laplace operator with input image, which are acquired from the front and side cameras. In order to minimize the memory usage and the processing time, a clustering method with the modified Hough transformation for line detection. The dimension of inner and outer radius of pipe is calculated by proposed line-scanning method. The method scans several lines along the X and Y axes, calculating the eccentricity of inner and outer circle, by which pipes with wrong end-shape can be classified removed.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.176-180
• /
• 2003

The paper presents an efficient method of extracting line segment in a local map of a robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. To find the shape of an object in a local map from orientation information, the orientations are clustered into several groups according to their values. The line segment is , then, extracted from the clusters based on Hough transform. The proposed technique is illustrated by experiments in an indoor environment.