• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.36.4-36
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• 2001

A robust and reliable path recognition system is one necessary component for the autonomous navigation of a mobile robot to help determining its current position in its navigation map. This paper describes a computer visual path-recognition system using on-board video camera as vision-based driving assistance for an autonomous navigation mobile robot. The common problem for a visual system is that its reliability was often influenced by different lighting conditions. Here, two different image processing methods for the path detection were developed to reduce the effect of the luminance: one is based on the RGB color model and features of the path, another is based on the HSV color model in the absence of luminance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.331-336
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• 2002

Satellite positioning technology has been widely used in all kinds of military and civil land, marine, space and aeronautical target positioning tasks, navigation activities and accurate surveying measurements since 90s in the last century due to it advantage in providing all-weather, real-time, three dimensional and high precision positioning information, as well as speed and accurate timing information. By now, it has already formed a new hi-tech industry basically. This paper briefly reviews the development of the global satellite positioning and navigation technologies including the basic information of China′s "Plough navigation system", introduces the history of satellite positioning technology and its major application fields as well as the status quo of this being industrialized trade in China, gives an account of the writers′ vision for the application and prospect of the satellite positioning technologies in China, and approaches the tactics and stresses of the satellite positioning technology′s application and its industrialization future in China.

• 대한전자공학회논문지TE
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• 제42권4호
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• pp.33-40
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• 2005

본 논문에서는 이동 로봇 주위의 환경 인식과 자기 위치 인식을 위하여 초음파 센서와 한 개의 카메라를 이용하여 안정적인 이동 경로를 확보할 수 있는 방식을 제시하였다. 개발된 초음파 센서(SRF04)시스템은 주행환경의 지도 작성을 위하여 목표물의 특징 데이터를 작성하고, SDC313(SAMSUNG) 카메라에서 수집된 영상자료와 결합하도록 하여 안정적인 경로탐색이 가능한 이동로봇 제어방식을 실험을 통하여 구현하였다.

• 한국해양공학회지
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• 제29권5호
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• pp.392-397
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• 2015

An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift, observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera’s observations of underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.

• 한국항만학회지
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• 제14권3호
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• pp.303-312
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.907-908
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• 2006

We describe a method for localizing a mobile robot in its working environment using a vision system and Virtual Reality Modeling Language (VRML). The robot identifies landmarks in the environment, using image processing and neural network pattern matching techniques, and then its performs self-positioning with a vision system based on a well-known localization algorithm. After the self-positioning procedure, the 2-D scene of the vision is overlaid with the VRML scene. This paper describes how to realize the self-positioning, and shows the overlap between the 2-D and VRML scenes. The method successfully defines a robot's path.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2341-2343
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• 2002

This paper describes a vision-based line recognition and control of driving direction for an AGV(autonomous guided vehicle). As navigation guide, black stripe attached on the corridor is used. Binary image of guide stripe captured by a CCD camera is used. For detect the guideline quickly and extractly, we use for variable thresholding algorithm. this low-cost line-tracking system is efficiently using pc-based real time vision processing. steering control is studied through controller with guide-line angle error. This method is tested via a typical agv with a single camera in laboratory environment.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.480-487
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• 2009

Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.

• 한국정보통신학회논문지
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• 제10권12호
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• pp.2126-2131
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• 2006

국제해사기구((IMO)는 새로운 기술의 사용과 다양한 전자항해통신기술 및 서비스를 안전하게 활용하기 위한 폭넓은 전략적 비전을 개발하고 있다. 또한 정확성, 보안, 비용 효율성 등을 위하여 모든 선박을 대상으로 하는 국제적 커버리지 제공이 가능한 시스템을 개발하려고 한다. 그러나 이 새로운 전략적 비전의 수행을 위해서는 기존의 해도, 선교 디스플레이, 전자 항해기기, 통신시스템과 연안 인프라 등의 운영 방식과 항해수단에 대한 수정 및 보완이 절실하다. 따라서 본 논문에서는 E-Navigation의 국제적 동향을 살펴보고, E-Navigation 개발을 위한 환경 분석을 기초로 하여 향후 E-Navigation을 구현하기 위한 방향을 제시한다.