• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.577-582
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based Wheeled Mobile Robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps has a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. Data set between position of WMR and features of lamps are configured. Neural network are composed and teamed with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.321-329
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• 2015

This paper addresses a new algorithm for a stereo visual odometry to measure the ego-motion of a vehicle. The new algorithm introduces an inlier grouping method based on Delaunay triangulation and vanishing point computation. Most visual odometry algorithms rely on RANSAC in choosing inliers. Those algorithms fluctuate largely in processing time between images and have different accuracy depending on the iteration number and the level of outliers. On the other hand, the new approach reduces the fluctuation in the processing time while providing accuracy corresponding to the RANSAC-based approaches.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.97-100
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• 1996

In this paper, we describe an algorithm which estimate road following direction using the vanishing point property and obstacle detection. This method of detecting the lane markers in a set of continuous lane highway images using linear approximation is presented. This algorithm is designed for accurate and robust extraction of this data as well as high processing speed. Also, this algorithm reckon distance and chase about an obstacle. It include four algorithms which are lane prediction, lane extraction, road following parameter estimation and obstacle detection algorithm. High accuracy was proven by quantitative evaluation using simulated images. Both robustness and the practicality of real time video rate processing were then confirmed through experiment using VTR real road images.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2333-2335
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• 1998

Recently, the development of computer achieves a system which is similar to the mechanics of human visual system. The 3D measurement using monocular vision system must be achieved a camera calibration. So far, the camera calibration technique required reference target in a scene. But, these methods are inefficient because they have many calculation procedures and difficulties in analysis. Therefore, this paper proposes a native method that without reference target in a scene. We use the grid type frame with different line widths. This method uses vanishing point concept that possess a rotation parameter of the camera and perspective ration that perfect each line widths into a image. We confirmed accuracy of calibration parameter estimation through experiment on the algorithm with a grid paper with different line widths.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04b
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• pp.742-744
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• 2004

본 논문에서는 두 개의 직교하는 소실점(Orthogonal Vanishing Points)을 이용하여 카메라의 내부 파라미터를 추정하기 위한 방법을 제안한다. 카메라 보정(camera calibration)은 2차원 영상으로부터 3차원 정보를 얻기 위한 중요한 단계이다. 기존의 소실점을 이용한 대부분의 방법들은 세 개의 직교하는 소실점을 사용하여 파라미터론 추정하지만, 실제 영상에서는 세 개의 직교 소실점을 포함하는 영상을 획득하는 것은 어려운 문제이다 따라서 본 논문에서는 2개의 직교 소실점을 사용하여 카메라 U부 보정을 위한 기하적이고 직관적인 새로운 방법을 제안한다. 주점(principal point)과 초점거리(focal length)는 Thales의 이론을 기초한 기하학적 제약사항으로부터 다중 반구(multiple hemispheres)들의 관계로부터 유도된다.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.4 s.304
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• pp.21-30
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• 2005

In this paper, we propose lane detection and trackinB algerian using B-Snake as robust algorithm. One of chief virtues of Lane detection algorithm using B-Snake is that it is possible to specify a wider range of lane structure because B-Spline conform an arbitrary shape by control point set and that it doesn't use any camera parameter. Using a robust algorithm called CHVEP, we find the vanishing point, width of lane and mid-line of lane because of the perspective parallel line and then we can detect the both side of lane mark using B-snake. To demonstrate that this algorithm is robust against noise, shadow and illumination variations in road image, we tested this algorithm about various image divided by weather-fine, rainy and cloudy day. The percentage of correct lane detection is over 95$\%$.