• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.83-91
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• 2004

The determination of camera position and orientation from known correspondences of 3D reference points and their images is known as pose estimation in computer vision or space resection in photogrammetry. This paper discusses estimation of transform parameters using the pattern matching method with 2D images only. In general, the 3D reference points or lines are needed to find out the 3D transform parameters, but this method is applied without the 3D reference points or lines. It uses only two images to find out the transform parameters between two image. The algorithm is simulated using Visual C＋＋ on Windows 98.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.2
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• pp.89-95
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• 2017

In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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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.

• Korean Journal of Remote Sensing
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• v.25 no.2
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• pp.165-173
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• 2009

Augmented Reality technologies offer new possibilities to the exploration of spatial distributed information. In this work we describe the main issues in the development of an Augmented Reality system that allows the annotation of objects or features in the real world captured by a camera. The general operation of this kind of systems is described, as well as the main problems that need to be solved. Finally, as an example of case of study, we present an application for the annotation of information relative to containers in a marine terminal.

• Korean Journal of Remote Sensing
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• v.23 no.5
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• pp.365-373
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• 2007

Car navigation system is a key application in geographic information system and telematics. A recent trend of car navigation system is using real video captured by camera equipped on the vehicle, because video has more representation power about real world than conventional map. In this paper, we suggest a visual car navigation system that visually represents route guidance. It can improve drivers' understanding about real world by capturing real-time video and displaying navigation information overlaid directly on the video. The system integrates real-time data acquisition, conventional route finding and guidance, computer vision, and augmented reality display. We also designed visual navigation controller, which controls other modules and dynamically determines visual representation methods of navigation information according to current location and driving circumstances. We briefly show implementation of the system.

• Journal of Aerospace System Engineering
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• v.3 no.4
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• pp.11-18
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• 2009

This paper is about EO sensor module control based on the image processing. The main purpose of this research is acquiring a latitude and longitude of the target located on the ground by using image processing. For image processing, OpenCV is employed which is a computer vision library originally developed by Intel, and ATmega128 is used for the EO sensor module control. This task also involves realization of control programs and acquisition of sensor view angle for the position of the target.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.37-42
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• 2019

This paper presents an autonomous acceleration planning algorithm for pedestrian collision avoidance at urban. Various scenarios between pedestrians and a vehicle are designed to maneuver the planning algorithm. To simulate the scenarios, we analyze pedestrian's behavior and identify limitations of fusion sensors, lidar and vision camera. Acceleration is optimally determined by considering TTC (Time To Collision) and pedestrian's intention. Pedestrian's crossing intention is estimated for quick control decision to minimize full-braking situation, based on their velocity and position change. Feasibility of the proposed algorithm is verified by simulations using Carsim and Simulink, and comparisons with actual driving data.

• Current Optics and Photonics
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• v.5 no.1
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• pp.32-39
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• 2021

We propose a three-dimensional (3D) streaming system based on a lamina display that can convey field information in real-time by creating floating 3D images that can satisfy the accommodation cue. The proposed system is mainly composed of three parts, namely: a 3D vision camera unit to obtain and provide RGB and depth data in real-time, a 3D image engine unit to realize the 3D volume with a fast response time by using the RGB and depth data, and an optical floating unit to bring the implemented 3D image out of the system and consequently increase the sense of presence. Furthermore, we devise the streaming method required for implementing augmented reality (AR) images by using a multilayered image, and the proposed method for implementing AR 3D video in real-time non-face-to-face communication has been experimentally verified.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.29-34
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• 2021

Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.

• International Journal of Computer Science & Network Security
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• v.22 no.6
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• pp.97-108
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• 2022

The video-assisted human action recognition [1] field is one of the most active ones in computer vision research. Since the depth data [2] obtained by Kinect cameras has more benefits than traditional RGB data, research on human action detection has recently increased because of the Kinect camera. We conducted a systematic study of strategies for recognizing human activity based on deep data in this article. All methods are grouped into deep map tactics and skeleton tactics. A comparison of some of the more traditional strategies is also covered. We then examined the specifics of different depth behavior databases and provided a straightforward distinction between them. We address the advantages and disadvantages of depth and skeleton-based techniques in this discussion.