• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.983-988
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• 2011

This paper presents a robust method for ground plane detection in vision-based applications based on a monocular sequence of images with a non-stationary camera. The proposed method, which is based on the reliable estimation of the homography between two frames taken from the sequence, aims at designing a practical system to detect road surface from traffic scenes. The homography is computed using a feature matching approach, which often gives rise to inaccurate matches or undesirable matches from out of the ground plane. Hence, the proposed homography estimation minimizes the effects from erroneous feature matching by the evaluation of the difference between the predicted and the observed matrices. The method is successfully demonstrated for the detection of road surface performed on experiments to fill an information void area taken place from geometric transformation applied to captured images by an in-vehicle camera system.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1416-1419
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• 2002

This paper describes an implementation method for the people counting system which detects and tracks moving people using a fixed single camera. This system counts the number of moving objects (people) entering the security door. Moreover, the detected objects are tracked by the proposed tracking algorithm before entering the door. The proposed system with In-tel Pentium IV operates at an average rate of 10 frames a second on real world scenes where up to 6 persons come into the view of a vertically mounted camera.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.127-137
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• 1996

The 3-dimensional measurement using stereo vision system must achieve a camera calibration. So far, the 3-dimensional calibration technique that uses two-dimensional grid papar and a non-linear least square method has been developed and tested. But, this method is inefficient because it has many calculation procedure and a non-linear analysis. Therefore, this paper proposed the projective geometric method which produced the calibration parameter by vanishing point. The vanishing point is producted by a cross ratio and a parallel line pairs. The results of the computer simulation show utility of the proposed method.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.117-118
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• 2007

A robot needs a human detection algorithm for interaction with a human. This paper proposes a method that finds people using a SVM (support vector machine) classifier and a stereo camera. Feature vectors of SVM are extracted by HoG (histogram of gradient) within images. After training extracted vectors from the clustered images, the SVM algorithm creates a classifier for human detection. Each candidate for a human in the image is generated by clustering of depth information from a stereo camera and the candidate is evaluated by the classifier. When compared with the existing method of creating candidates for a human, clustering reduces computational time. The experimental results demonstrate that the proposed approach can be executed in real time.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.915-920
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• 2005

Passenger safety is a primary concern of railway system but, it has been urgent issue that dozens of people are killed every year when they fall off from train platforms. Recently, advancements in IT have enabled applying vision sensors to railway environments, such as CCTV and various camera sensors. The objective of this work is to propose technical and system requirements for establishing intelligent monitoring system using camera equipments in urban transit system. We suppose the system is to determine automatically and in real-time whether anyone or anything is in monitoring area. To achieve the goal, we analyze recent image processing technologies for detection and recognition, and suggest possible direction of system development for applying urban transit system. According to the results, we expect the proposed system requirements will playa key role for establishing highly intelligent monitoring system in railway.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.8
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• pp.641-646
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• 2016

The best method of measuring wood diameter is a contact-type device: however, obtaining an accurate result can be problematic under certain circumstances. In this study, we used a laser beam and a CCD camera that did not require contact with wood. The wood is illuminated by the laser beam, and the CCD camera captures this illumination. The measurement results were determined by processing of the captured image sequences. This paper explains the use of image processing and laser systems for measurement of wood under circumstances in which physical contact is impossible.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2729-2731
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• 2001

In this paper, we studied on the real-time environment map building for the mobile robot navigation using the stereo camera system. Distance measurement are necessary to build the environment map. We used a area-based stereo matching for the distance measurement with the stereo camera system. To reduce the computation time, we used DSP processor on the vision board, took a suitable area size for stereo matching, and used hierarchical search method. Using the fast acquired distance values, the environment map was built.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.83-83
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot′s end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.89-90
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• 2004

The analysis of relative pose(position and rotation) between stereo cameras is very important to determine the solution that provides three-dimensional information for an arbitrary moving target with respect to robot-end. In the space of free camera-model, the rotational parameters act on non-linear factors acquiring a kinematical solution. In this paper the general solution of active stereo that gives a three-dimensional pose of moving object is presented. The focus is to achieve a derivation of linear equation between a robot's end and active stereo cameras. The equation is consistently derived from the vector of quaternion space. The calibration of cameras is also derived in this space. Computer simulation and the results of error-sensitivity demonstrate the successful operation of the solution. The suggested solution can also be applied to the more complex real time tracking and quite general and are applicable in various stereo fields.

• Journal of Biomedical Engineering Research
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• v.22 no.1
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• pp.41-47
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• 2001

본 연구는 한 대의 칼라 카메라와 광학장치를 이용하여 인체의 운동량을 측정하는 시스템에 관한 것이다. 광학을 이용하여 인체의 운동량을 측정하기 위해서는 일반적으로 두 대 이상의 카메라로부터 획득된 영상으로 측정물체에 대한 좌표를 구하는 입체화상법을 사용한다. 제시한 시스템은 서로 다른 색의 칼라필터와 거울을 통과한 두 개의 광경로를 빔스플리터로 중첩시켜서 한 대의 칼라카메라로 영상을 획득하여 분석하는 것으로, 한 대의 칼라카메라가 두 대의 단색 가상카메라 역할을 하는 것이다. 단색 가상카메라는 적색, 녹색과 청색의 세 가지로 본 실험에서는 적색의 밝기가 가장 낮아서 녹색과 청색 가상카메라를 사용하였다. 광학장치를 이용하여 칼라카메라로 획득된 적색, 녹색과 청색별로 8bit인 24bit 디지털영상에서 녹색과 청색 영상은 각각 녹색과 청색의 가상카메라로 획득한 영상이다. 이 영상들을 이진화하여 측정물체를 배경으로부터 분리하고, 이진영상에서 일정한 면적을 지닌 영역의 중심을 측정물체가 영상면에 투영된 좌표로 본다. 녹색과 청색 영상에서 동일한 측정물체에 대한 영상선을 구하고 이들의 교차점을 측정물체의 공간좌표로 하였다. 이 시스템을 이용하여 직립 및 신전자세에서 척추의 형상을 측정하였으며 향후 시스템의 추가적인 개발과 적응분야에 대하여도 살펴보았다.