• KIPS Transactions on Software and Data Engineering
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• v.8 no.2
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• pp.61-66
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• 2019

Augmented reality is a technology that makes a virtual object appear as if it exists in reality by composing a virtual object in real time with the image captured by the camera. In order to augment the virtual object on the object existing in reality, the homography of images utilized to estimate the position and orientation of the object. The homography can be estimated by applying the RANSAC algorithm to the feature points of the images. But the homography estimation method using the RANSAC algorithm has a problem that accurate homography can not be estimated when there are many feature points in the background. In this paper, we propose a method to filter feature points of a background when the object is near and the background is relatively far away. First, we classified the depth image into relatively near region and a distant region using the Otsu's method and improve homography estimation performance by filtering feature points on the relatively distant area. As a result of experiment, processing time is shortened 71.7% compared to a conventional homography estimation method, and the number of iterations of the RANSAC algorithm was reduced 69.4%, and Inlier rate was increased 16.9%.

• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1761-1775
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• 2022

Due to unpredictable climate change, the frequency of occurrence of water-related disasters and the scale of damage are also continuously increasing. In terms of disaster management, it is essential to identify the damaged area in a wide area and monitor for mid-term and long-term forecasting. In the field of water disasters, research on remote sensing technology using Synthetic Aperture Radar (SAR) satellite images for wide-area monitoring is being actively conducted. Time-series analysis for monitoring requires a complex preprocessing process that collects a large amount of images and considers the noisy radar characteristics, and for this, a considerable amount of time is required. With the recent development of cloud computing technology, many platforms capable of performing spatiotemporal analysis using satellite big data have been proposed. Google Earth Engine (GEE)is a representative platform that provides about 600 satellite data for free and enables semi real time space time analysis based on the analysis preparation data of satellite images. Therefore, in this study, immediate water disaster damage detection and mid to long term time series observation studies were conducted using GEE. Through the Otsu technique, which is mainly used for change detection, changes in river width and flood area due to river flooding were confirmed, centered on the torrential rains that occurred in 2020. In addition, in terms of disaster management, the change trend of the time series waterbody from 2018 to 2022 was confirmed. The short processing time through javascript based coding, and the strength of spatiotemporal analysis and result expression, are expected to enable use in the field of water disasters. In addition, it is expected that the field of application will be expanded through connection with various satellite bigdata in the future.

• Journal of Platform Technology
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• v.11 no.2
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• pp.26-38
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• 2023

This paper is a study on a transport robot capable of autonomously driving to a destination using a QR code in an indoor environment. The transport robot was designed and manufactured by attaching a lidar sensor so that the robot can maintain a certain distance during movement by detecting the distance between the camera for recognizing the QR code and the left and right walls. For the location information of the delivery robot, the QR code image was enlarged with Lanczos resampling interpolation, then binarized with Otsu Algorithm, and detection and analysis were performed using the Zbar library. The QR code recognition experiment was performed while changing the size of the QR code and the traveling speed of the transport robot while the camera position of the transport robot and the height of the QR code were fixed at 192cm. When the QR code size was 9cm × 9cm The recognition rate was 99.7% and almost 100% when the traveling speed of the transport robot was less than about 0.5m/s. Based on the QR code recognition rate, an experiment was conducted on the case where the destination is only going straight and the destination is going straight and turning in the absence of obstacles for autonomous driving to the destination. When the destination was only going straight, it was possible to reach the destination quickly because there was little need for position correction. However, when the destination included a turn, the time to arrive at the destination was relatively delayed due to the need for position correction. As a result of the experiment, it was found that the delivery robot arrived at the destination relatively accurately, although a slight positional error occurred while driving, and the applicability of the QR code-based destination self-driving delivery robot was confirmed.

• Journal of the Korea Society of Computer and Information
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• v.29 no.1
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• pp.21-30
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• 2024

In this paper, we propose a method to build a sample dataset of the features of eight sensor-only facilities built as infrastructure for autonomous cooperative driving. The feature extracted from point cloud data acquired by LiDAR and build them into the sample dataset for recognizing the facilities. In order to build the dataset, eight sensor-only facilities with high-brightness reflector sheets and a sensor acquisition system were developed. To extract the features of facilities located within a certain measurement distance from the acquired point cloud data, a cylindrical projection method was applied to the extracted points after applying DBSCAN method for points and then a modified OTSU method for reflected intensity. Coordinates of 3D points, projected coordinates of 2D, and reflection intensity were set as the features of the facility, and the dataset was built along with labels. In order to check the effectiveness of the facility dataset built based on LiDAR data, a common CNN model was selected and tested after training, showing an accuracy of about 90% or more, confirming the possibility of facility recognition. Through continuous experiments, we will improve the feature extraction algorithm for building the proposed dataset and improve its performance, and develop a dedicated model for recognizing sensor-only facilities for autonomous cooperative driving.

• Journal of the Optical Society of Korea
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• v.17 no.2
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• pp.188-199
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• 2013

This paper presents a novel algorithm for nighttime detection of the lane markers painted on a road at night. First of all, the proposed algorithm uses neighborhood average filtering, 8-directional Sobel operator and thresholding segmentation based on OTSU's to handle raw lane images taken from a digital CCD camera. Secondly, combining intensity map and gradient map, we analyze the distribution features of pixels on boundaries of lanes in the nighttime and construct 4 feature sets for these points, which are helpful to supply with sufficient data related to lane boundaries to detect lane markers much more robustly. Then, the searching method in multiple directions- horizontal, vertical and diagonal directions, is conducted to eliminate the noise points on lane boundaries. Adapted Hough transformation is utilized to obtain the feature parameters related to the lane edge. The proposed algorithm can not only significantly improve detection performance for the lane marker, but it requires less computational power. Finally, the algorithm is proved to be reliable and robust in lane detection in a nighttime scenario.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.321-325
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• 2004

Retinopathy of Prematurity (ROP) is a common retinal neovascular disorder of premature infants. It can be characterized by inappropriate and disorganized vessel. This paper present a method for blood vessel detection on infant retinal images. The algorithm is designed to detect the retinal vessels. The proposed method applies a Lapalacian of Gaussian as a step-edge detector based on the second-order directional derivative to identify locations of the edge of vessels with zero crossings. The procedure allows parameters computation in a fixed number of operations independent of kernel size. This method is composed of four steps : grayscale conversion, edge detection based on LOG, noise removal by adaptive Wiener filter & median filter, and Otsu's global thresholding. The algorithm has been tested on twenty infant retinal images. In cooperation with the Digital Imaging Research Centre, Kingston University, London and Department of Opthalmology, Imperial College London who supplied all the images used in this project. The algorithm has done well to detect small thin vessels, which are of interest in clinical practice.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.4
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• pp.246-253
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• 2016

Infrared (IR) imaging has been researched for various applications such as surveillance. IR radiation has the capability to detect thermal characteristics of objects under low-light conditions. However, automatic segmentation for finding the object of interest would be challenging since the IR detector often provides the low spatial and contrast resolution image without color and texture information. Another hindrance is that the image can be degraded by noise and clutters. This paper proposes multi-level segmentation for extracting regions of interest (ROIs) and objects of interest (OOIs) in the IR scene. Each level of the multi-level segmentation is composed of a k-means clustering algorithm, an expectation-maximization (EM) algorithm, and a decision process. The k-means clustering initializes the parameters of the Gaussian mixture model (GMM), and the EM algorithm estimates those parameters iteratively. During the multi-level segmentation, the area extracted at one level becomes the input to the next level segmentation. Thus, the segmentation is consecutively performed narrowing the area to be processed. The foreground objects are individually extracted from the final ROI windows. In the experiments, the effectiveness of the proposed method is demonstrated using several IR images, in which human subjects are captured at a long distance. The average probability of error is shown to be lower than that obtained from other conventional methods such as Gonzalez, Otsu, k-means, and EM methods.

• Journal of Korea Multimedia Society
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• v.10 no.12
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• pp.1559-1565
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• 2007

The many target-detection methods that use forward-looking infrared (FUR) images can deal with large targets measuring $70{\times}40$ pixels, utilizing their shape features. However, detection small targets is difficult because they are more obscure and there are many target-like objects. Therefore, few studies have examined how to detect small targets consisting of fewer than $30{\times}10$ pixels. This paper presents a small target detection method using clutter rejection with stochastic hypothesis testing for FLIR imagery. The proposed algorithm consists of two stages; detection and clutter rejection. In the detection stage, the mean of the input FLIR image is first removed and then the image is segmented using Otsu's method. A closing operation is also applied during the detection stage in order to merge any single targets detected separately. Then, the residual of the clutters is eliminated using statistical hypothesis testing based on the t-test. Several FLIR images are used to prove the performance of the proposed algorithm. The experimental results show that the proposed algorithm accurately detects small targets (Jess than $30{\times}10$ pixels) with a low false alarm rate compared to the center-surround difference method using the receiver operating characteristics (ROC) curve.

• The KIPS Transactions:PartB
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• v.13B no.4 s.107
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• pp.377-382
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• 2006

In this paper, two methods based on the use of morphology and pattern matching prior to detect classified defects automatically on the back light unit which is a part of display equipments are proposed. One is the template check method which detects small size defects by using closing and opening method, and the other is the block matching method which detects big size defects by comparing with four regions of uniform blocks. The TC algorithm also can detect defects on the non-uniform pattern of BLU by using revised Otsu method. The proposed method has been implemented on the automatic defect detection system we developed and has been tested image data of BLU captured by the system.

• Journal of Korea Multimedia Society
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• v.20 no.6
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• pp.845-852
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• 2017

In this paper, we propose a binarization algorithm using LVQ-Merge clustering method for fast and accurate extraction of cells from cell images. The proposed method clusters pixel data of a given image by using LVQ to remove noise and divides the result into two clusters by applying a hierarchical clustering algorithm to improve the accuracy of binarization. As a result, the execution speed is somewhat slower than that of the conventional LVQ or Otsu algorithm. However, the results of the binarization have very good quality and are almost identical to those judged by the human eye. Especially, the bigger and the more complex the image, the better the binarization quality. This suggests that the proposed method is a useful method for medical image processing field where high-resolution and huge medical images must be processed in real time. In addition, this method is possible to have many clusters instead of two cluster, so it can be used as a method to complement a hierarchical clustering algorithm.