• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.634-640
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• 2015

This paper proposes a novel three-dimensional mapping algorithm in Omni-Directional Vision SLAM based on a fisheye image and laser scanner data. The performance of SLAM has been improved by various estimation methods, sensors with multiple functions, or sensor fusion. Conventional 3D SLAM approaches which mainly employed RGB-D cameras to obtain depth information are not suitable for mobile robot applications because RGB-D camera system with multiple cameras have a greater size and slow processing time for the calculation of the depth information for omni-directional images. In this paper, we used a fisheye camera installed facing downwards and a two-dimensional laser scanner separate from the camera at a constant distance. We calculated fusion points from the plane coordinates of obstacles obtained by the information of the two-dimensional laser scanner and the outline of obstacles obtained by the omni-directional image sensor that can acquire surround view at the same time. The effectiveness of the proposed method is confirmed through comparison between maps obtained using the proposed algorithm and real maps.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.361-364
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• 1997

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje Shipyard. In order to realize automatic welding system, robots have to be equipped with the sensing system to recognize the position of the welding panels. In this research, a camera vision system is developed to detect the position of base panels for subassembly line in shipbuilding. Two camera vision systems are used in two different stages (Mounting and Welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.881-884
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• 2000

Foveated vision has the big advantage of exhibiting a wide field of view, along with a high resolution fovea. However, in the case of using optical flow, foveated vision kas one demerit. The demerit is a concentrate of optical flow. For foveated vision, an object moves almost only around the center of the field. In this paper, we suggest how to segment motion of some objects, and how to discriminate a hand and another object. In the future, the method we suggested may be useful for recognizing human actions by foveated vision.

• Smart Structures and Systems
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• 제17권6호
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• pp.935-956
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• 2016

With the help of advanced image acquisition and processing technology, the vision-based measurement methods have been broadly applied to implement the structural monitoring and condition identification of civil engineering structures. Many noncontact approaches enabled by different digital image processing algorithms are developed to overcome the problems in conventional structural dynamic displacement measurement. This paper presents three kinds of image processing algorithms for structural dynamic displacement measurement, i.e., the grayscale pattern matching (GPM) algorithm, the color pattern matching (CPM) algorithm, and the mean shift tracking (MST) algorithm. A vision-based system programmed with the three image processing algorithms is developed for multi-point structural dynamic displacement measurement. The dynamic displacement time histories of multiple vision points are simultaneously measured by the vision-based system and the magnetostrictive displacement sensor (MDS) during the laboratory shaking table tests of a three-story steel frame model. The comparative analysis results indicate that the developed vision-based system exhibits excellent performance in structural dynamic displacement measurement by use of the three different image processing algorithms. The field application experiments are also carried out on an arch bridge for the measurement of displacement influence lines during the loading tests to validate the effectiveness of the vision-based system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1920-1925
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• 2004

This paper describes a new method for 3D object recognition which used surface segment-based stereo vision. The position and orientation of an objects is identified accurately enabling a robot to pick up, even though the objects are multiple and partially occluded. The stereo vision is used to get the 3D information as 3D sensing, and CAD model with its post processing is used for building models. Matching is initially performed using the model and object features, and calculate roughly the object's position and orientation. Though the fine adjustment step, the accuracy of the position and orientation are improved.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.344-352
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• 1999

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje shipyard. In order to realize automatic welding system, robots have to be equipped with a sensing system to recognize the position of the welding panels. In this research, a camera vision system(CVS) is developed to detect the position of base panels for sub-assembly line in shipbuilding. Two camera vision systems are used in two different stages (fitting and welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• 소성∙가공
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• 제5권4호
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• pp.343-352
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• 1996

One of the preferred methods that can be used to verify the results of finite element analysis is to measure surface strains of the deformed part for purpose of direct comparison with simulation results. Instead of using the usual manual method the vision-based measurement method is capable of determining surface geometry and strain from the deformed grid pattern automatically with the help of a computer. To obtain strain distribution over an area, the coordinates of such a surface grid are determined from the multiple video images by applying the photogrammetry principle. Methods to improve the overall accuracy of the vision-based strain measurement system are explored and the possible accuracies that can be attained by such a measurement method are discussed. A major emphasis is placed on the initial grid application method its accuracy and ease of subsequent image processing. Finite element analyses of limiting dome height(LDH) test are carried out and the results of them are compared with exsperimen-tal data.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.111-112
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• 2007

본 논문에서는 멀티프로세서 기반의 고속 영상처리 알고리즘 개발방법에 대해 소개한다. 영상획득 방식의 발전과 더불어 고해상도 영상의 획득이 가능해지고 영상이 컬러화가 되면서 많은 영상처리 응용분야에서 알고리즘 고속화를 필요로 하고 있다. 이러한 수요를 만족시키기 위해서는 최근에 출시되고 있는 멀티프로세서를 최대한 활용할 수 있는 알고리즘 개발이 최우선이다. 본 논문에서는 OpenMP, MIL(Matrox Image Library), OpenCV, IPP(Integrated Performance Primitives), SSE (Streaming SIMD (Single Instruction Multiple Data) Extensions)등 병렬처리와 고속 영상처리 라이브러리를 이용한 알고리즘 개발방법에 대해 소개하고, 각 개발방법에 따른 알고리즘 성능을 분석 및 평가하였다. 실험결과로부터 SSE와 IPP, MIL(Thread)을 이용하여 Mean, Dilation, Erosion, Open, Closing, Sobel등 알고리즘을 구현하여 $4057{\times}4048$크기의 영상에 적용하였을 때 $7{\sim}35msec$의 좋은 성능을 나타내어 기타 방식보다 우수함을 알 수 있었다.

• 대한안전경영과학회지
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• 제14권4호
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• pp.333-339
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• 2012

This paper reviewed the relationship between corporate entrepreneurship(innovativeness, risktaking, proactiveness) and managerial innovation(organization innovation, human resource innovation), and the moderating effect of shared vision. The data to verify proposed hypothesis consist of the responses from 243 employees in Kyeong-Gi and Kang-Won province. The results of hierarchical multiple regression analysis showed that innovativeness and proactiveness are related positively with organization innovation and human resource innovation, but risktaking is not related with innovation. Although risktaking has not effect on human resource innovation, it is appeared that it will be positively related with human resource innovation while shared vision is high.

• 한국컴퓨터정보학회논문지
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• 제24권5호
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• pp.59-66
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• 2019

According to the KT telecommunication statistics, people stayed inside their houses on an average of 11.9 hours a day. As well as, according to NSC statistics in the united states, people regardless of age are injured for a variety of reasons in their houses. For purposes of this research, we have investigated an abnormal event detection algorithm to classify infrequently occurring behaviors as accidents, health emergencies, etc. in their daily lives. We propose a fusion method that combines three classification algorithms with vision pattern, audio pattern, and activity pattern to detect unusual user events. The vision pattern algorithm identifies people and objects based on video data collected through home CCTV. The audio and activity pattern algorithms classify user audio and activity behaviors using the data collected from built-in sensors on their smartphones in their houses. We evaluated the proposed individual pattern algorithm and fusion method based on multiple scenarios.