• Proceedings of the IEEK Conference
• /
• 2002.06d
• /
• pp.331-334
• /
• 2002

In this paper, we present two types of vision algorithm that mobile robot has CCD camera. for obstacle avoidance. This is simple algorithm that compare with grey level from input images. Also, The mobile robot depend on image processing and move command from PC host. we has been studied self controlled mobile robot system with CCD camera. This system consists of digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until recognize obstacle from input image that preprocessed by edge detection, converting, thresholding. And it could avoid the obstacle when recognize obstacle by line histogram intensity. Host PC measurement wave from various line histogram each 20 Pixel. This histogram Is ( x , y ) value of pixel. For example, first line histogram intensity wave from ( 0, 0 ) to ( 0, 197 ) and last wave from ( 280, 0 ) to ( 280, 197 ). So we find uniform wave region and nonuniform wave region. The period of uniform wave is obstacle region. we guess that algorithm is very useful about moving robot for obstacle avoidance.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.47 no.6
• /
• pp.26-34
• /
• 2010

The mutual coupling of a pair of microstrip patch antennas on a finite grounded dielectric substrate is influenced by the diffracted field of surface waves from the edges of a substrate. The effective dielectric constant of a grounded dielectric substrate determines the distance between the antenna center and the edge of a substrate to obtain the minimum mutual coupling between a pair of microstrip patch antennas. The optimum substrate size with the minimum mutual coupling is easily calculated using the image method. The optimum substrate sizes using the linage method are in good agreement with the results obtained by the full wave simulation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2001.10a
• /
• pp.587-591
• /
• 2001

This paper deals with inspect algorithm using visual system. One of the major problems that arise during polymer production is the estimation of the noise of the color product.(bad pallets) An erroneous output can cause a lot of losses (production and financial losses). Therefore new methods for real-time inspection of the noise are demanded. For this reason, we have presented a development of vision system algorithm for the defect inspection of PE color pallets. First of all, in order to detect the edge of object, the differential filter is used. And we apply to the labelling algorithm for feature extraction. This algorithm is designed for the defect inspection of pallets. The labelling algorithm permits to separate all of the connected components appearing on the pallets. Labelling the connected regions of a image is a fundamental computation in image analysis and machine vision, with a large number of application. Also, we suggested vision processing program in window environment. Simulations and experimental results demonstrate the performance of the proposal algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.8 no.7
• /
• pp.1453-1463
• /
• 2004

The conventional image segmentation method using level set has been disadvantage since level set function in the gradient-based model evolves depending on the local profile of the edge. In this paper, a new model is introduced by hybridizing level set formulation and complementary smooth function in order to smooth the driving force. We consider an alternative way of getting the complementary function(CF) which is much easier to simulate and makes sense for most cases having no triple junctions. The rule of thumb is that CF must be computed such that the difference between their average and the original CF function should be able to introduce a reliable driving force for the evolution of the level set function. This proposed hybrid method tries to minimize drawbacks the conventional level set method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2013.10a
• /
• pp.779-781
• /
• 2013

As the demand for various multimedia service increases the technology that utilizes image as information transfer method develops rapidly. Though average filter, median filter and weight filter etc. have been proposed to remove various noises that are added to images, the existing methods are short of noise removal and edge reservation performance. Therefore, in this paper an algorithm, in which noise is decided at the first hand, and then it is processed through modified median filter and adaptive weighted average filter, is proposed to effectively remove the complex noise that has been added to an image. And it was compared with existing methods through simulation and PSNR(peak signal to noise ratio) has been used as a criterion.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.449-450
• /
• 2007

오래 전 부터 영상처리와 컴퓨터 비전은 많은 분야에 응용되고 발전 되어 왔다. 그러한 기술 중에 최근 각광 받고 있는 그래프 짓(Graph cut) 알고리즘은 에너지함수를 최소화 하는 가장 강력한 최적화 기법중 하나이다. 그리고 일반적으로 Sobel, Prewitt, Roberts, Canny 에지(edge) 검출기 등은 영상처리에서 영상상의 에지를 검출하기 위해 이미 널리 사용되고 발전되어 온 기술이다. 물체에서의 윤곽만 검출하기 위해서는 우리가 원하지 않는 영상 위의 에지도 검출되기 때문에 예지 검출기만으로는 물체의 윤곽만을 검출하는 것은 불가능하다. 우리는 물체의 윤곽만 검출하기를 원하기 때문에 그래프 컷과 에지 검출기의 알고리즘을 결합하면 이러한 문제를 해결 할 수 있다는 것을 제안한다. 이 논문에서는 그래프 컷 알고리즘과 에지 검출기에 관해 간략하게 기술하고 그 결과를 보일 것이다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2016.05a
• /
• pp.676-678
• /
• 2016

Noise occurs in the process of obtaining, transmission, and processing in image processing systems and these noises lower the resolution of image and cause visual errors. Currently, a representative filter to remove salt and pepper noise is SMF(standard median filter) but it is inadequate in preserving edge as the noise field expands. Therefore, for salt and pepper noise enviroment, the study suggested and algorithm that are places with original pixel when the central pixel is non-noise and process by applying weighted value on areas with less local mask pixel changes when there is noise.

• The KIPS Transactions:PartB
• /
• v.8B no.6
• /
• pp.705-717
• /
• 2001

In this paper, we propose a rapid lane detection method to extract a preceding vehicle from sequential images captured by a single monocular CCD camera. We detect positions of lanes for an individual image within the limited area that would not be hidden and thereby compute the slopes of the detected lanes. Then we find a search area where vehicles would exist and extract the position of the preceding vehicle within the area with edge component by applying a structured method. To verify the effects of the proposed method, we capture the road images with a notebook PC and a CCD camera for PC and present the results such as processing time for lane detection, accuracy and vehicles detection against the images.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.30-34
• /
• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• Annual Conference of KIPS
• /
• 2002.11a
• /
• pp.755-758
• /
• 2002

스테레오스코픽 영상은 스테레오스코픽 카메라를 이용하여 좌 영상(left image)과 우 영상(right image)을 동시에 획득하는 것으로 사람의 눈으로 보는 것과 같은 입체감을 얻을 수 있는 것을 특징으로 한다. 스테레오스코픽 영상에서 객체의 깊이값을 구하기 위해서는 영상의 정합점을 찾는 것이 중요한데, 본 논문에서는 일반화 대칭변환(generalized symmetry transform) 알고리즘을 적용하여 스테레오스코픽(stereoscopic) 영상의 정합점(correspond points)을 찾는 방법을 제안한다. 본 논문에서 제안하는 방법은 먼저 좌 영상과 우 영상에 대해 에지(edge), 코너 검출 방법을 통해 특징점(feature point)을 검출하고 각 특징점들을 중심으로 사각 영역을 설정하고 이 범위내의 에지들이 갖는 대칭도(symmetry magnitude)를 특징점의 위치에 누적 시킨다. 좌영상의 대칭도를 구한 결과를 우 영상의 에지들의 대칭도와 비교를 수행해 임계치(threshold) 이하의 값을 가진 점들을 정합 후보로 선택한다. 이 정합 후보들을 영역내의 반지름 단위의 대칭도 비교를 통해 더욱 세분화된 비교를 수행하고 만약 이와 같은 과정을 통해서도 정합점을 찾지 못한다면 정합 후보들에 대해 칼라 정합도를 측정하여 최종적으로 정합점을 검출한다. 제안한 알고리즘을 이용한다면 특징점만을 이용하여 검색을 수행했을 때보다 더욱 정확한 정합점을 구할 수 있다.