• Proceedings of the KIEE Conference
• /
• 2001.07d
• /
• pp.2729-2731
• /
• 2001

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.55 no.2
• /
• pp.103-109
• /
• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a intelligent path planning of an automatic mobile robot is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity mad obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene. and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.29 no.11
• /
• pp.18-27
• /
• 2015

In this paper, we proposed the spinning right-angle stereo vision system to center the shifted object on 3-dimensional image using a human eyesight-like, and the system is reconstructed with conventional stereo vision system. In this proposed system, the centering results of objects on the 3-dimensional image are very good, and we got the parameter ratios 89~112% for the real measurement values. Therefore, the suggested the spinning right-angle stereo vision system have a high possibilities to be applied to many industrial system parts and to be used for robot system, automatic system, and etc.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.238-243
• /
• 1998

This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.12
• /
• pp.191-196
• /
• 2013

In this paper, the interaural intensity difference (IID)-based sounr source separation method in closely spaced stereo omnidirectional microphones is proposed. First, in order to improve the channel separability, a minimum variance distortionless response (MVDR) beamformer is employed to increase the intensity difference between stereo channels. After that, IID-based sound source separation method is applied. In order to evaluate the performance of the proposed method, source-to-distortion ratio (SDR), source-to-interference ratio (SIR), and sources-to-artifacts ratio (SAR), which are defined as objective evaluation criteria in stereo audio source separation evaluation campaign (SASSEC), are measured. As a result, it was shown from the objective evaluation that the proposed method outperforms a sound source separation method without applying a beamformer.

• The KIPS Transactions:PartB
• /
• v.9B no.2
• /
• pp.237-244
• /
• 2002

In this paper, we propose a stereo image recognition-based method for measuring the volume of the rectangular parallelepiped. The method measures the volume from two images captured with two CCD (charge coupled device) cameras by sequential processes such as ROI (region of interest) extraction, feature extraction, and stereo matching-based vortex recognition. The proposed method makes it possible to measure the volume of the 3D object at high speed because only a few features are used in the process of stereo matching. From experimental results, it is demonstrated that this method is very effective for measuring the volume of the rectangular parallelepiped at high speed.

• The Journal of the Acoustical Society of Korea
• /
• v.10 no.2
• /
• pp.44-51
• /
• 1991

In this paper, we have studied the FM-extended broadcasting which makes the enhancement of stereo signal-to-noise ration by utilizing the compression technique and quadrature moduation method of standard subcarrier signal in transmitter station, and corresponding demodulation method and expansion technique in receiver system. The proposed system is completely compatible with the conventional FM stereo system. We have confirmed the validity of the proposed method by implementation of transmitter/receiver system including quadrature modulation/demodulation and companding system.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.529-531
• /
• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• Proceedings of the IEEK Conference
• /
• 2002.07c
• /
• pp.1678-1680
• /
• 2002

Stereo matching technique is used in many practical fields like satellite image analysis and computer vision. In this paper, we suggest a method to extract a target object image from a complicated background. For example, human face image can be extracted from random background. This method can be applied to computer vision such as security system, dressing simulation by use of extracted human face, 3D modeling, and security system. Many researches about stereo matching have been performed. Conventional approaches can be categorized into area-based and feature-based method. In this paper, we start from area-based method and apply area tracking using scanning window. Coarse depth information is used for area merging process using area searching data. Finally, we produce a target object image.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.6
• /
• pp.366-371
• /
• 2005

For an autonomous mobile robot localization, it is very important for the robot to be able to recognize indoor environment and match a detected object to an object defined within a map developed either online or of offline. Given the map defining the locations of geometric beacons like wall and corner existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method practically applicable in recognizing the geometric beacons in real-time. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter Experimental results are provided to demonstrate that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.