• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.229-235
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• 2011

To make a robust object tracking and identifying system for an intelligent robot and/or home system, heterogeneous sensor fusion between visible ray system and infrared ray system is proposed. The proposed system separates the object by combining the ROI (Region of Interest) estimated from two different images based on a heterogeneous sensor that consolidates the ordinary CCD camera and the IR (Infrared) camera. Human's body and face are detected in both images by using different algorithms, such as histogram, optical-flow, skin-color model and Haar model. Also the pose of human body is estimated from the result of body detection in IR image by using PCA algorithm along with AdaBoost algorithm. Then, the results from each detection algorithm are fused to extract the best detection result. To verify the heterogeneous sensor fusion system, few experiments were done in various environments. From the experimental results, the system seems to have good tracking and identification performance regardless of the environmental changes. The application area of the proposed system is not limited to robot or home system but the surveillance system and military system.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.1354-1357
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• 2015

In this paper, the designed fish robot is researched and developed for aquarium underwater robot. This paper is a study on how the outside technology merely to find the location of fish robots without specific sensor or internal devices for these fish robot. The model of the fish is designed to detect the position of the optical flow of the Robotic Fish in the Simulink through Matlab. This paper intends to recognize the shape of the tank via a video device such as a camera or camcorder using an image processing technique to identify the location of the robotic fish. Here, we are applied to the image comparing algorithm by using the average color weight algorithm method. In this, position coordinate system is used to find the position coordinates of the fish to identify the position of the Robotic fish. It was verified by the performance test of design robot.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1998년도 추계학술대회
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• pp.127-128
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• 1998

It is necessary to maintain constant intravenous (IV) infusion rate. While infusion pump is able to control infusion rate with great accuracy, its rather large size and weight make it difficult for patients to move around. The most commonly used infusion device is gravity IV infusion set with its administration chamber being clamped according to the observed drip rate. In this case it may be easier and more accurate to maintain IV rate to given value if we automate the drip-counting process and tube-clamping work by electronic devices. We calculated volume infusion rate of specific fluid using optical drip rate meter which we had developed. To regulate fluid flow rate, we equipped the rate meter which we had developed with a miniaturized clamping apparatus using DC motor. Also, we Implemented drip detection and clamp control algorithm with PIC16C73 $\mu$-controller (Microchip). This system provides user interface through LCD display and key buttons.

• 한국가시화정보학회지
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• 제2권1호
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• pp.39-45
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• 2004

A time-resolved two-phase PIV system using a single camera has been developed, which introduces a method of image separation into respective phase images, and is applied to freely rising single bubble. Gas bubble, tracer particle and background have different gray intensity ranges on the same image frame when reflection and dispersion in the phase interface are intrinsically eliminated by optical filters and fluorescent particles. Further, the signals of the two phases do not interfere with each other. Gas phase velocities are obtained from the separated bubble image by applying the two-frame PTV. On the other hand, liquid phase velocities are obtained from the tracer particle image by applying the cross-correlation algorithm. As a result, the bubble rises rectilinearly just after it is released from an injector and then has a zigzag motion in the far field. From the trajectory of the bubble, it is found that the period of the zigzag motion is closely related to the vortex shedding although the wavelength of it varies along its movement.

• 한국정보전자통신기술학회논문지
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• 제8권4호
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• pp.270-274
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• 2015

본 논문에서는 HSV 색 공간을 이용한 야간 차량의 검출 시스템을 제안한다. 주정차 감시등 도로변에서 자동차를 감시하는 경우 자동차 번호판 추출하는 것이 중요하다. 일반적으로 번호판 추출을 위해서는 원거리에서 자동차 검출후 Pan-Tilt-Zoom 카메라로 자동차를 일정한 크기로 확대한 영상을 획득하여 번호판을 추출한다. 그리고 자동차 검출 및 추적을 위해 Mean-Shift 혹은 Optical Flow 알고리듬이 많이 이용되고 있다. 그러나 이러한 알고리즘은 주간에는 성공적으로 자동차를 검출 및 추적 할수 있었으나 야간에는 검출 및 추적에 어려움이 있었다. 그래서 본 논문에서는 입력 영상을 HSV 색 공간으로 변환하면 자동차의 전조등 혹은 후미등의 위치가 두드러지게 나타나는 것을 이용하여 자동차의 위치를 검출하였다. 실험 결과 정면 차량의 경우 93.9%, 후면 차량의 경우 97.7%의 차량을 검출하여 제안된 방법이 야간 차량 검출에 효율적임을 증명하였다.

• Spatial Information Research
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• 제21권3호
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• pp.11-19
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• 2013

도로에서 발생되는 차량간 충돌사고, 교통 소통 상황, 보행자 사고 등 다양한 도로 상황을 모니터링 및 자동으로 인식하여 교통정보를 제공하거나 긴급구난 서비스를 제공하기 위한 다양한 기술이 개발되고 있다. 도로 모니터링을 통한 다양한 객체 추적 및 상황인식을 위해서는 잡음 및 겹침 등에 강인한 객체 추적 기술이 요구된다. 본 논문에서는 외부 환경에서 Background Subtraction, LK-Optical Flow, 지역 기반 히스토그램 특징의 결합을 통해 추적을 위한 몇 가지 추정 인자를 생성하고 이를 통해 변화가 있는 객체, 잡음에도 비교적 강인한 추적 방법을 제안한다. 구체적으로는 객체의 초기 움직임 정보를 검출하기 위해 옵티컬 플로우를 적용하여 컬러 정보 및 밝기 변화에 무관한 이동 정보를 측정한다. 측정된 정보를 기반으로 하여 지역 히스토그램 기반 검증을 통해 신뢰도를 판단한다. 신뢰도가 낮을 경우 배경 제거 정보와 지역 히스토그램 트래커의 정보를 혼합하여 새로운 위치를 추정한다. 실험을 통해 제안된 기법이 객체를 추적하고 있는 도중 나타날 수 있는 충돌, 새로운 특징의 등장, 크기 변화 상황에 강인하게 동작함을 제시한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권4호
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• pp.763-781
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• 2011

We present a texture-based hatching technique for color images and video. Whereas existing approaches produce monochrome hatching effects in considering of triangular mesh models by applying strokes of uniform size, our scheme produces color hatching effects from photographs and video using strokes with a range of sizes. We use a Delaunay triangulation to create a mesh of triangles with sizes that reflect the structure of an input image. At each vertex of this triangulation, the flow of the image is analyzed and a hatching texture is then created with the same alignment, based on real pencil strokes. This texture is given a modified version of a color sampled from the image, and then it is used to fill all the triangles adjoining the vertex. The three hatching textures that accumulate in each triangle are averaged and the result of this process across all the triangles forms the output image. We can also add a paper texture effect and enhance feature lines in the image. Our algorithm can also be applied to video. The results are visually pleasing hatching effects similar to those seen in color pencil drawings and oil paintings.

• 한국컴퓨터정보학회논문지
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• 제3권4호
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• pp.27-34
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• 1998

본 논문에서는 움직임 벡터와 빛의 세기를 이용하여 비디오의 인덱싱과 검색 기법에 대하여 제안한다. 본 논문에서는 움직임 벡터의 특징과 빛의 세기를 계산하여 각 샷 당하나의 대표프레임을 추출하였다. 각각의 대표프레임은 빛의 흐름을 계산하였다. 즉 움직임벡터의 특징은 빛의 흐름으로부터 얻어냈고, BMA 는 움직임 벡터를 찾기 위해 사용했다. 그리고 빛의 세기 값을 히스토그램으로 변환 한 후 컷 검출에 사용하였다. 비디오 프레임의움직임 벡터와 빛의 세기 특징을 기반으로 비디오 데이터를 구성하고 인덱싱 하였다. 비디오 데이터베이스는 비디오의 접근을 위해 내용기반을 제공하고, 인덱스 특징은 B+ 트리 검색을 사용했고, 내부적으로 구성되어 단 노드 방식으로 저장되어 컴퓨터 저장장치에 직접 접근할 수 있게 했다. 본 논문에서는 비디오 데이터 모델을 기반으로 한 비디오 인덱스의 문제를 정의하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.740-745
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• 2003

Motion tracking and object segmentation are the most fundamental and critical problems in vision tasks suck as motion analysis. An active contour model, snake, was developed as a useful segmenting and tracking tool for rigid or non-rigid objects. Snake is designed no the basis of snake energies. Segmenting and tracking can be executed successfully by energy minimization. In this research, two new paradigms for segmentation and tracking are suggested. First, because the conventional method uses only intensity information, it is difficult to separate an object from its complex background. Therefore, a new energy and design schemes should be proposed for the better segmentation of objects. Second, conventional snake can be applied in situations where the change between images is small. If a fast moving object exists in successive images, conventional snake will not operate well because the moving object may have large differences in its position or shape, between successive images. Snakes's nodes may also fall into the local minima in their motion to the new positions of the target object in the succeeding image. For robust tracking, the condensation algorithm was adopted to control the parameters of the proposed snake model called "adaptive color snake model(SCSM)". The effectiveness of the ACSM is verified by appropriate simulations and experiments.

• 로봇학회논문지
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• 제10권3호
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• pp.171-177
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• 2015

A telerobot offers a more engaging and enjoyable interaction with people at a distance by communicating via audio, video, expressive gestures, body pose and proxemics. To provide its potential benefits at a reasonable cost, this paper presents a telepresence robot system for video communication which can deliver speaker's head motion through its display stanchion. Head gestures such as nodding and head-shaking can give crucial information during conversation. We also can assume a speaker's eye-gaze, which is known as one of the key non-verbal signals for interaction, from his/her head pose. In order to develop an efficient head tracking method, a 3D cylinder-like head model is employed and the Harris corner detector is combined with the Lucas-Kanade optical flow that is known to be suitable for extracting 3D motion information of the model. Especially, a skin color-based face detection algorithm is proposed to achieve robust performance upon variant directions while maintaining reasonable computational cost. The performance of the proposed head tracking algorithm is verified through the experiments using BU's standard data sets. A design of robot platform is also described as well as the design of supporting systems such as video transmission and robot control interfaces.