• Journal of the Institute of Convergence Signal Processing
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• v.24 no.4
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• pp.192-198
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• 2023

This paper proposes an algorithm for autonomous mobile robots to effectively navigate obstacles. In order to detect obstacles infrared sensors and cameras are employed. The infrared sensor is utilized to calculate the distance to obstacles while the captured images from the camera are used to determine the width of obstacles. To compute obstacle width, binary image processing, contour detection, and the minimum area rectangle technique are employed. Using the distance to obstacles and obstacle width, the avoidance angle is calculated, and this angle is incorporated into steering control. The proposed obstacle avoidance algorithm was implemented on an autonomous robot, and experimental results demonstrated a maximum reduction in avoidance time by 8.5 seconds compared to using only infrared sensors when the obstacle width is 30cm.

• Journal of the Korea Society of Computer and Information
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• v.29 no.10
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• pp.47-57
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• 2024

This paper proposes a system to efficiently manage delays caused by unmanaged and congested queues in crowded environments. Such queues not only cause inconvenience but also pose safety risks. Existing systems, relying on single-camera feeds, are inadequate for complex scenarios requiring multiple cameras. To address this, we developed a multi-vision long queue detection system that integrates multiple vision algorithms to accurately detect various types of queues. The algorithm processes real-time video data from multiple cameras, stitching overlapping segments into a single panoramic image. By combining object detection, tracking, and position variation analysis, the system recognizes long queues in crowded environments. The algorithm was validated with 96% accuracy and a 92% F1-score across diverse settings.

• The Korean Journal of Nuclear Medicine Technology
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• v.15 no.1
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• pp.29-33
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• 2011

Background and Purpose: Uniformity is the one of the important quality control features with respect to gamma cameras. To maintain adequate uniformity, we must acquire suitable flood table (=flood map) data because the flood table effects energy, and the type or dose of input radiation. Therefore, in this study we evaluated the difference in uniformity when uniformity does not match between the type of input radiation and the flood table data or collimator type. Subjects and Methods: For input radiation, we prepared 370 MBq of $^{57}Co$, $^{99m}Tc$, and $^{201}Tl$. Using SKYLight (Philips) and Infinia gamma cameras (GE), we acquired nine uniformity data that were corrected by technetium, cobalt flood table and did not corrected image for the three sources. Additionally, we acquired two uniformity images with a collimator that were corrected by intrinsic and extrinsic flood tables. Using this data, we evaluated and compared the uniformity values. Results: In the case of the SKYLight gamma camera, the uniformities of the images that matched between the input radiation and flood table with respect to $^{99m}Tc$ and $^{57}Co$ were better than the unmatched uniformity (3.96% vs. 5.69% ; 4.9% vs. 5.91%). However, because there was no thallium flood table, the uniformities of images at Tl were significantly incorrect (7.49%, 7.03%). The uniformities of the Infinia gamma camera had the same pattern as the SKYLight gamma camera (3.7% vs. 4.5%). Moreover, the uniformity of the $^{99m}Tc$ image acquired with a collimator and corrected by an extrinsic flood table was better than the intrinsic flood table (3.96% vs. 6.28%). Conclusion: Correcting an image by a suitable flood table can help achieve better uniformity for a gamma camera. Therefore, we have to acquire images with suitable uniformity correction, and update the flood table periodically. Whenever we acquire a nuclear medicine image, we always have to check the appropriate flood table according to the acquired condition.

• International Journal of Highway Engineering
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• v.4 no.2 s.12
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• pp.33-42
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• 2002

The cracks in the pavements result from drying shrinkage, temperature change, repeated traffic loadings and so on. The reduction of soil support, spatting and many local failures are caused by water and incompressible foreign materials infiltrated into the cracks. In order to reduce this kind of problems the crack width must be controlled and managed by the accurate measurement. The current method is a visual survey using a microscope, which requires traffic blocking. The purpose of this study is to find the best condition to measure accurate crack width using automated pavement condition survey equipment running at the similar speed as other vehicles. In this study pavement surfaces are filmed on an enlarged scale by the camera with a zoom lens, and then the proper focal distance is determined according to the crack width through a pilot survey. The conditions for measurement of the accurate crack width using the image processing technique are suggested by comparing crack widths surveyed using a microscope in the field with those computed by various factors in the image processing program, STADI-2. In conclusion, the camera with a focal distance of 75m could detect crack range of 0.5mm$\sim$1.2mm In width with an accuracy of 80% for CRCP. The camera with a focal distance of 12.5mm could detect crack range of 1.8mm$\sim$3.3mm in width with an accuracy of 90% for asphalt pavement.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.10
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• pp.902-909
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• 2015

In this paper, monovision based relative navigation for a satellite proximity operation is studied. The chaser satellite only uses one camera sensor to observe the target satellite and conducts image tracking to obtain the target pose information. However, by using only mono-vision, it is hard to get the depth information which is related to the relative distance to the target. In order to resolve the well-known difficulty in computing the depth information with the use of a single camera, the active contour method is adopted for the image tracking process. The active contour method provides the size of target image, which can be utilized to indirectly calculate the relative distance between the chaser and the target. 3D virtual reality is used in order to model the space environment where two satellites make relative motion and produce the virtual camera images. The unscented Kalman filter is used for the chaser satellite to estimate the relative position of the target in the process of glideslope approaching. Closed-loop simulations are conducted to analyze the performance of the relative navigation with the active contour method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.9
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• pp.120-125
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• 2016

For the purpose of protecting personal property and lives from incidents, accidents, and threats such as terrorism, video surveillance equipment has been installed and operates in many places. Video surveillance technology has gradually developed into high-quality, high-definition equipment, and a lot of products have been launched. However, closed circuit television (CCTV) equipment for security purposes can invade a person's privacy. In this paper, we propose a way to protect personal video images using meta-data in an intelligent Internet protocol (IP) camera. We designed the system to mask personal video information from meta-data, define the method of image-information access according to user privileges, and show how to utilize the meta-data during storage and recorded data searches. The suggested system complies with guidelines for CCTV installation and operation from Korea's Ministry of the Interior. Installed on only a single server so far, due to the limitations and technical difficulties of hardware performance, it has been difficult to find a method that can be applied to personal image information using real-time protection techniques. Applying the method proposed in this paper can satisfy the guidelines, reduce server costs, and reduce system complexity.

• The KIPS Transactions:PartB
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• v.10B no.4
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• pp.373-380
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• 2003

Most of low cost digital cameras reveal relatively high lens distortion. The purpose of this research is to compensate the degradation of image quality due to the geometrical distortion of a lens system. The proposed method consists of two stages : calculation of a lens distortion coefficient by a simplified version of Tsai´s camera calibration and subsequent image warping of the original distorted image to remove geometrical distortion based on the calculated lens distortion coefficient. In the lens distortion coefficient calculation stage, a practical method for handling scale factor ratio and image center is proposed, after which its feasibility is shown by measuring the performance of distortion correction using a quantitative image quality measure. On the other hand, in order to apply image warping via inverse spatial mapping using the result of the lens distortion coefficient calculation stage, a cubic polynomial derived from an adopted radial distortion lens model must be solved. In this paper, for the purpose of real-time operation, which is essential for embedding into an information device, an approximated solution to the cubic polynomial is proposed in the form of a solution to a quadratic equation. In the experiment, potential for real-time implementation and equivalence in performance as compared with that from cubic polynomial solution are shown.

• Journal of Broadcast Engineering
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• v.17 no.2
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• pp.363-373
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• 2012

This paper proposes a method to generate a depth image at an arbitrary intermediate view-point, which is targeting a video service for free-view, auto-stereoscopy, holography, etc. It assumes that the leftmost and the rightmost depth images are given and they both have been camera-calibrated and image-rectified. This method calculates and uses a disparity increment per depth value. In this paper, it is obtained by stereo matching for the given two depth image by considering more general cases. The disparity increment is used to find the location in the intermediate view-point depth image (IVPD) for each depth in the given images. Thus, this paper finds two IVPDs, from left image and from right image. Noises are removed and holes are filled in each IVPDs and the two results are combined to get the final IVPD. The proposed method was implemented and applied to several test sequences. The results revealed that the quality of the generated IVPD corresponds to 33.84dB of PSNR in average and it takes about 1 second to generate a HD IVPD. We evaluate that this image quality is quite good by considering the low correspondency among the left images, intermediate images, and the right images in the test sequences. If the execution speed is improved, the proposed method can be a very useful method to generate an IVPD at an arbitrary view-point, we believe.

• Journal of Broadcast Engineering
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• v.19 no.3
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• pp.362-371
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• 2014

Blur variation caused by camera de-focusing provides a proper cue for depth estimation. Depth from Defocus (DFD) technique calculates the blur amount present in an image considering that blur amount is directly related to scene depth. Conventional DFD methods use two defocused images that might yield the low quality of an estimated depth map as well as a reconstructed infocused image. To solve this, a new DFD methodology based on infocused and defocused images is proposed in this paper. In the proposed method, the outcome of Subbaro's DFD is combined with a novel edge blur estimation method so that improved blur estimation can be achieved. In addition, a saliency map mitigates the ill-posed problem of blur estimation in the region with low intensity variation. For validating the feasibility of the proposed method, twenty image sets of infocused and defocused images with 2K FHD resolution were acquired from a camera with a focus control in the experiments. 3D stereoscopic image generated by an estimated depth map and an input infocused image could deliver the satisfactory 3D perception in terms of spatial depth perception of scene objects.

• Journal of Broadcast Engineering
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• v.17 no.4
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• pp.695-706
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• 2012

The purpose of this paper is to propose a service system for a digital hologram video, which has not been published yet. This system assumes the existing service frame for 2-dimensional or 3-dimensional image/video, which includes data acquisition, processing, transmission, reception, and reconstruction. This system also includes the function to service the digital hologram at the viewer's view point by tracking the viewer's face. For this function, the image information at the virtual view point corresponding to the viewer's view point is generated to get the corresponding hologram. Here in this paper, only a prototype that includes major functions of it is implemented, which includes camera system for data acquisition, camera calibration and image rectification, depth/intensity image enhancement, intermediate view generation, digital hologram generation, and holographic image reconstruction by both simulation and optical apparatus. The proposed prototype system was implemented and the result showed that it takes about 352ms to generate one frame of digital hologram and reconstruct the image by simulation, or 183ms to reconstruct image by optical apparatus instead of simulation.