• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.8-15
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• 2006

Obstacle detection is an important task for many mobile robot applications. The methods using stereo vision and optical flow are computationally expensive. Therefore, this paper presents a vision-based obstacle detection method using only two view images. The method uses a single passive camera and odometry, performs in real-time. The proposed method is an obstacle detection method using 3D reconstruction from taro views. Processing begins with feature extraction for each input image using Dr. Lowe's SIFT(Scale Invariant Feature Transform) and establish the correspondence of features across input images. Using extrinsic camera rotation and translation matrix which is provided by odometry, we could calculate the 3D position of these corresponding points by triangulation. The results of triangulation are partial 3D reconstruction for obstacles. The proposed method has been tested successfully on an indoor mobile robot and is able to detect obstacles at 75msec.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.6
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• pp.35-41
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• 2007

We proposed an eye gaze tracking system under natural head movements. The system consists of one CCD(charge-coupled device) camera and two front-surface mirrors. The mirrors rotate to follow head movements in order to keep the eye within the view of the camera. However, the mirror controller cannot guarantee the fast head movements, because the frame rate is generally 30Hz. To overcome this problem, we applied Kalman filter to estimate next eye position from the current eye image. In the results, our system allowed the subjects head to move 60cm horizontally and 40cm vertically, with the head movement speed about 55cm/sec and 45cm/sec, respectively. And spatial gate resolutions were about 4.5 degree and 5.0 degree, respectively, and the gaze estimation accuracy was 92% under natural head movements.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.2
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• pp.111-116
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• 2008

The study installed non metric camera which was a 10 Mega Pixel camera in RC Helicopter. And the study controlled images hotographed in air on land, considering their overlap. The study could express DEM by abstracting TIN from the acquired images through image registration. Also, the study compared and examined accuracy between reference point and check point observed by Total Station which was a conventional type of survey. As the results, the study could get errors of $-0.194{\sim}0.224\;m$ on X axis, $-0.088{\sim}0.180\;m$ on Y axis and $-0.286{\sim}0.285\;m$ on Z axis. Expressing an error's RMSE in the checkpoint, the study could get of 0.021388 m on X axis, 0.015285 m on Y axis and 0.041872 m on Z axis. It is judged that the above photographing and analyzing technique are better than the existing Total Station to acquire more terrain elevation data.

• The KIPS Transactions:PartB
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• v.11B no.6
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• pp.675-682
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• 2004

With the five-day workweek system in bank and the increased usage of ATM(Automatic Toller Machine), it is required that the financial crime using stolen credit card should be prevented. Though a CCTV camera is usually installed in near ATM, an intelligent criminal can cheat it disguising himself with sunglass or mask. In this paper, we propose facial feature verification system which can detect whether the user's face can be Identified or not, using image processing algorithm and SVM(Support Vector Machine). Experimental results show that FAR(Error Rate for accepting a disguised man as a non-disguised one) is 1% and FRR(Error Rate for rejecting a normal/non-disguised man as a disguised one) is 2% for training data. In addition, it shows the FAR of 2.5% and the FRR of 1.43% for test data.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.6
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• pp.1019-1024
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• 2019

In this paper, we plan to design and manufacture a new sleeping child check system using image and PIR sensors. Therefore, it plans to implement a system that can prevent in-vehicle accidents that can occur due to presence of human and certain temperature inside the vehicle by collecting data from PIR sensors and temperature sensors with the main control device based on Arduino. In addition, the values of sensors can be linked with Bluetooth communication or Wi-Fi communication to send information to the mobile phone, and the sensor values can be printed by texting on the screen. It also plans to use raspberry pie and camera modules to build a display and smartphone streaming service inside the vehicle. Through this, the objective of this study is to prevent safety accidents in school vehicles by making experiments and research in this paper recognize 100% inside the vehicle with the quantitative goal of PIR sensors.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.1
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• pp.137-145
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• 2004

In this paper, a new algorithm for the segmentation of the multi moving objects at the 3 dimension space and the method of measuring the distance from the camera to the moving object by using stereo video monitoring system is proposed. It get the input image of left and right from the stereo video monitoring system, and the area of the multi moving objects segmented by using adaptive threshold and PRA(pixel recursive algorithm). Each of the object segmented by window mask, then each coordinate value and stereo disparity of the multi moving objects obtained from the window masks. The distance of the multi moving objects can be calculated by this disparity, the feature of the stereo vision system and the trigonometric function. From the experimental results, the error rate of a distance measurement be existed within 7.28％, therefore, in case of implementation the proposed algorithm, the stereo security system, the automatic moving robot system and the stereo remote control system will be applied practical application.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.4
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• pp.147-152
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• 2008

This paper describes the breakdown poperties of porcelain and polymer insulators using the UV camera. The experiment was carried out using condition of voltage at the KS C IEC 60060-1(2006). As these results, corona discharge in porcelain insulator was generated the weakness point of insulator union. And the corona discharge of polymer insulator happened in union of power source. Also, we could confirm easily weakness part of these insulators by ultraviolet image through the corona discharge. Besides, in the comparison with the exciting technique of ultrasonic detection, it confirmed that deterioration steps are corrected. These steps are possible to judge the deterioration of power facilities through reliable date. Hereafter, this study as the diagnostic technology suitable for the sites is used.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.1
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• pp.142-152
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• 2016

GPS is not able to be used for indoor positioning and currently most of techniques emerging to overcome the limit of GPS utilize private wireless networks. However, these methods require high costs for installation and maintenance, and they are inappropriate to be used in the place where precise positioning is needed as in indoor parking lots. This paper proposes a vehicular indoor positioning method based on QR-code recognition. The method gets an absolute coordinate through QR-code scanning, and obtain the location (an relative coordinate) of a black-box camera using the tilt and roll angle correction through affine transformation, scale transformation, and trigonometric function. Using these information of an absolute coordinate and an relative one, the precise position of a car is estimated. As a result, average error of 13.79cm is achieved and it corresponds to just 27.6% error rate in contrast to 50cm error of the recent technique based on wireless networks.

• Tunnel and Underground Space
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• v.20 no.3
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• pp.207-216
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• 2010

Rockfall monitoring systems generally used in the country are mainly based on the detection of tension of protection wire or tilting of protection post due to rock fall. However, rock fall protection net must be installed prior to the monitoring system and continual maintenance work after each rock fall event is required for a normal operation of these detection systems. To solve these problems, we suggested and implemented a non-contact rock fall detection system using multiple photo sensors and additional camera. After a laboratory experiment and field application, we can conclude that this system is effective and reliable for detecting, collecting and analyzing the rock fall information. In addition, lighten and difference operations on two captured images were able to yield rough estimation of size and direction of rock fall.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.9 no.2
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• pp.81-89
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• 2006

The purpose of this study was to evaluate the applicability of small RC(radio controlled) helicopter and single lens reflect camera as SFAP(Small Format Aerial Photography) aquisition system to monitor the vegetation coverage of wetland. The system used to take pictures of small artificial wetland were a common optical camera(Nikon F80 with manual lens whose focal length was 28mm) attached to the bottom of a RC helicopter with a 50 cubic inch size glow engine. Three hundreds pictures were taken at the altitude of 50m above the ground, from 23rd June to 7th September 2005. Four from the images were selected and scanned to digital images whose dimension were 2048${\times}$1357 pixels. Those images were processed and rectified with GCP(Ground Control Poins) and digital map, and then classified by the supervised- classification module of image processing program PG-steamer Version 2.2. The major findings were as follows ; 1. The final images processed had very high spatial resolution so that the objects bigger than 30mm like lotus(Nelumbo nucifera), rock and deck were easily identified. 2. The dominant plants of the monitoring site were Monochoria ragianlis, Typha latifolia, Beckmannia syzigachne etc. Because those species have narrow and long leaves and form irregular biomass, the individuals were hardly identifiable, but the distribution of population were easily identifiable depending on the color difference. 3. The area covered by vegetation was rapidly increased during the first month of monitoring. At the beginning of the monitoring 23th June 2005, The rate of area covered by vegetation were only 34%, but after 27 and 60 days it increased to 74%, and the 86% respectively.