• Journal of the Korea Institute of Military Science and Technology
• /
• v.15 no.1
• /
• pp.1-8
• /
• 2012

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.3
• /
• pp.224-229
• /
• 2007

This paper presents a camera calibration method using several images for three dimensional measurement applications such as stereo systems, mobile robots, and visual inspection systems in factories. Conventional calibration methods that use single image suffer from errors related to reference point extraction in image, lens distortion, and numerical analysis of nonlinear optimization. The camera parameter values obtained from images of same camera is not same even though we use same calibration method. The camera parameters that are obtained from several images of different view for a calibration target is usaully not same with large error values and we can not assume a special probabilistic distribution when we estimate the parameter values. In this paper, the median value of camera parameters from several images is used to improve estimation of the camera values in an iterative step with nonlinear optimization. The proposed method is proved by experiments using real images.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.3
• /
• pp.434-443
• /
• 2008

This paper develops a novel automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering rate for the output. It localizes the vehicle by using only external sensors - a vision sensor and ultrasonic sensors. Then it automatically learns an optimal fuzzy if-then rule set from the training data, using an evolutionary fuzzy system. Furthermore, it also finds the green zone for the ready-to-reverse position in which parking is possible just by reversing. It has been tested on a 4-wheeled Pioneer mobile robot which emulates the real vehicle.

• Proceedings of the Korean Information Science Society Conference
• /
• 2005.07b
• /
• pp.781-783
• /
• 2005

본 논문은 손 모양 인식을 이용한 비전 기반의 보행 로봇 제어 시스템을 제안한다. 손의 모양을 인식하기 위해서 움직이는 카메라 영상으로부터 정확한 손의 경계선물 추출하고 추적하는 일이 선행되어야 한다. 따라서 본 논문에서는 민 시프트 방법을 사용한 활성 윤곽선 모델 기반의 추적 방법을 제안한다. 제안된 시스템은 손 추출기, 손 추적기, 손 모양 인식기 그리고 로봇 제어기, 4개의 모들로 구성된다. 손 추출기는 영상에서 미리 정의된 손의 모양을 가지는 피부색 영역을 추출한다. 추출된 손의 추적은 활성 윤관선 모델과 민 시프트 방법을 사용하여 실행된다. 그 후 Hue moments를 사용하여 추적된 손의 모양을 인식한다. 제안된 방법을 평가하기 위해서 본 논문에서는 2족 보행 로봇 KHR-1에 제안된 방법을 적용 한다.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2021.07a
• /
• pp.25-28
• /
• 2021

도보 위 위험 알림이란 사람이 지나다닐 수 있는 길을 파악하고 길 위에서 사용자에게 접근하는 위협적인 장애물들을 탐지하고 알려주는 것이다. 본 연구에서는 Computer Vision의 Semantic Segmentation을 이용하여 사람이 다닐 수 있는 길을 구분하고 YOLO 사물 인식 알고리즘을 이용하여 시각장애인에게 접근하는 위협적인 장애물들을 탐지하여 알려줄 수 있는 시스템을 제시한다. 해당 시스템은 실용성을 고려하여 모바일 환경에서 이용할 수 있도록 구현하였으며, 서버와의 연동을 통해 실시간으로 사용자에게 사물 인식의 결과를 알려준다.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.10 no.5
• /
• pp.359-363
• /
• 2017

The LED (Liquid Emitting Diode) frame device is a big part of the representative display industry in Korea. LED is an essential part for TV, monitor, notebook, and mobile phone. In Japan, Taiwan, China and other countries, investment in LEDs has been strengthened, and productivity has become an important issue. However, as the size of the parts becomes smaller, the inconsistent inspection by the human eye becomes a problem of reliability, so that the automatic inspection process becomes an essential issue in the field of LED module inspection. In this paper, we investigate defects in visual inspection process using computer vision technology. The inspection of the LED frame is made quickly and accurately, thereby improving the efficiency of the process and shortening the inspection time. As a result of applying the inspection system to the field, we confirmed that it is possible to inspect quickly and accurately.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.11 no.11
• /
• pp.2179-2184
• /
• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. This paper described appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.10 no.1
• /
• pp.63-68
• /
• 2010

Recently, to accelerate the Ubiquitous generation, the input interface of the mobile machinery and tools are actively being researched. In addition with the existing interfaces such as the keyboard and curser (mouse), other subdivisions including the handwriting, voice, vision, and touch are under research for new interfaces. Especially in the case of small-sized mobile machinery and tools, there is a increasing need for an efficient input interface despite the small screens. This is because, additional installment of other devices are strictly limited due to its size. Previous studies on handwriting recognition have generally been based on either two-dimensional images or algorithms which identify handwritten data inserted through vectors. Futhermore, previous studies have only focused on how to enhance the accuracy of the handwriting recognition algorithms. However, a problem arisen is that when an actual handwriting is inserted, the user must select the classification of their characters (e.g Upper or lower case English, Hangul - Korean alphabet, numbers). To solve the given problem, the current study presents a system which distinguishes different languages by analyzing the form/shape of inserted handwritten characters. The proposed technique has treated the handwritten data as sets of vector units. By analyzing the correlation and directivity of each vector units, a more efficient language distinguishing system has been made possible.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.1
• /
• pp.331-339
• /
• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• Journal of KIISE:Software and Applications
• /
• v.34 no.1
• /
• pp.79-94
• /
• 2007

In the ubiquitous computing age which uses a high quantity network, mobile devices such as wearable and hand-held ones with a small tamers and a wireless communication module will be widely used in near future. Thus, a lot of researches about an augmented game on mobile devices have been attempted recently. The existing augmented games used a traditional 'backpack' system and a pattern marker. The 'backpack' system is expensive, cumbersome and inconvenient to use, and because of the pattern marker, it is only possible to play the game in the previously installed palace. In this paper, we propose an augmented game called Flying Cake using a face region to create the virtual object(character) without the pattern marker, which manually indicates an overlapped location of the virtual object in the real world, on a small and mobile PDA instead of the cumbersome hardware. Flying Cake is an augmented shooting game. This game supplies us with two types: 1) a single player which attacks a virtual character on images captured by a camera in an outdoor physical area, 2) dual players which attack the virtual character on images which we received through a wireless LAN. We overlap the virtual character on the face region using a face detection technique, and users play Flying Cake though attacking the virtual character. Flying Cake supplies new pleasure to flayers with a new game paradigm through an interaction between the user in the physical world captured by the PDA camera and the virtual character in a virtual world using the face detection.