• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.1
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• pp.161-166
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• 2011

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

• International Journal of Control, Automation, and Systems
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• v.5 no.2
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• pp.184-191
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• 2007

Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional mirror and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.

• Korean Institute of Interior Design Journal
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• v.23 no.1
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• pp.78-87
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• 2014

The purpose of this paper is to analyze the relationship between panoramic perception and space organization for restoration of urban environment and architecture. Panorama is a collective visual catalogue composed by series of perspective images. It is a product from continuous movements of viewer by defamilarizing real image and structuring order between city and building. Through understanding the panoramic image, the viewer is able to achieve the total image of the city. For example, achieving visual perception of the city by employing the panoramic view from different historical backgrounds and cultures, Berlin developed its urban characteristic by rebuilding panoramic view as an aesthetic device. First, this paper mention theory of panorama as an aesthetic device for shaping the city from the building. Second, this paper analyze the relationships between characteristics of panorama and historical contexts for why those panoramic views are valuable by mentioning the Altes Museum, the Berlin National Gallery, Museum of Modern Literature, and Folkwang Museum of panoramic view. In conclusion, this paper argues that visual perception such as panoramic view is the valuable device for organizing the image of the city's own identity. Constructing vision of each city influences not only shaping the city but also mapping the mental views of the building. Also, historical conditions and open spaces are one of the inherent elements combined with panoramic view for establishing urban identity. In search for good place making, it is important to understand the role of the historical context and fabric plan in shaping how a resident sees - literally, sees- their city with buildings. Berlin serve as excellent counter example in how the valuable place making panoramic mental views of urbanities take shape.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.206-210
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• 2011

Vision-based robot localization is challenging due to the vast amount of visual information available, requiring extensive storage and processing time. To deal with these challenges, we propose the use of features extracted from omni-directional panoramic images and present a method for localization of a mobile robot equipped with an omni-directional camera. The core of the proposed scheme may be summarized as follows : First, we utilize an omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Second, Nodes around the robot are extracted by the correlation coefficients of Circular Horizontal Line between the landmark and the current captured image. Third, the robot position is determined from the locations by the proposed correlation-based landmark image matching. To accelerate computations, we have assigned the node candidates using color information and the correlation values are calculated based on Fast Fourier Transforms. Experiments show that the proposed method is effective in global localization of mobile robots and robust to lighting variations.

• International Journal of Quality Innovation
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• v.3 no.2
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• pp.93-112
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• 2002

The issues of “Integration” in quality management and related fields have been discussed for a few years. Literature review reveals that this is a large and multi-disciplinary topic. Although there are many publications on this issue, very few well-cited articles show direct illustration to why, what and how to implement the “Integration” strategy in quality management. This paper presents a panoramic review and vision on “Integration” issues of quality management, in the perspectives of concept, scope, organization, information, process, and culture.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.3
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• pp.835-854
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• 2012

In this paper, we propose a novel positioning system for indoor navigation which helps a user navigate easily to desired destinations in an unfamiliar indoor environment using his mobile phone. The system requires only the user's mobile phone with its basic equipped sensors such as a camera and a compass. The system tracks user's positions and orientations using a vision-based approach that utilizes $360^{\circ}$ panoramic images captured in the environment. To improve the robustness of the vision-based method, we exploit a digital compass that is widely installed on modern mobile phones. This hybrid solution outperforms existing mobile phone positioning methods by reducing the error of position estimation to around 0.7 meters. In addition, to enable the proposed system working independently on mobile phone without the requirement of additional hardware or external infrastructure, we employ a modified version of a fast and robust feature matching scheme using Histogrammed Intensity Patch. The experiments show that the proposed positioning system achieves good performance while running on a mobile phone with a responding time of around 1 second.

• Journal of Broadcast Engineering
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• v.25 no.1
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• pp.13-24
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• 2020

There are about nine million power line poles and 1.3 million kilometers of the power line for electric power distribution in Korea. Maintenance of such a large number of electric power facilities requires a lot of manpower and time. Recently, various fault diagnosis techniques using artificial intelligence have been studied. Therefore, in this paper, proposes a power line deflection detect system using artificial intelligence and computer vision technology in images taken by vision system. The proposed system proceeds as follows. (i) Detection of transmission tower using object detection system (ii) Histogram equalization technique to solve the degradation in image quality problem of video data (iii) In general, since the distance between two transmission towers is long, a panoramic video stitching process is performed to grasp the entire power line (iv) Detecting deflection using computer vision technology after applying power line detection algorithm This paper explain and experiment about each process.

• Journal of KIISE:Software and Applications
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• v.36 no.8
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• pp.653-663
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• 2009

In this paper, we propose a blind spots elimination system using three cameras. A wide-angle camera is attached on trunk for eliminating blind spots of a rear-view mirror and two cameras are attached on each side-view mirror for eliminating blind spots of vehicle's sides. In order to eliminate blind spots efficiently, we suggest a method to build a panoramic mosaic view with two side images and one wide-angle rear image. First, we obtain an undistorted image from a wide-angle camera of rear-view and calculate the focus-of-contraction (FOC) in undistorted images of rear-view while the car is moving straight forward. Second, we compute a homography among side-view images and an undistorted image of rear-view in flat road scenes. Next, we perform an image registration process after road and background region segmentation. Finally, we generate various views such as a cylinder panorama view, a top view and an information panoramic mosaic view.

• Journal of the Korean Institute of Landscape Architecture
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• v.43 no.2
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• pp.30-39
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• 2015

The English Landscape garden and picturesque aesthetics, which was in fashion during the 18th to early 19th century in England, has been accused of making people see the actual garden in terms of a static landscape painting without a synesthetic engagement in nature. As new optic devices such as diorama, panorama, photography, and cinematography were invented, ways of seeing nature transitioned from a perspective vision to a panoramic, that is, modern one. This study intends to uncover signs of this kind of modern vision in the picturesque aesthetics and visual representation of landscape gardener Humphry Repton. German garden theorist Christian Cay Lorenz Hirschfeld contended that the English landscape garden was a new style of designing landscape that followed the principle of the serpentine line, which produced movement in sightlines; thus, he considered garden art as a superior art form among all other genres. The signs of visual motion appear in Repton's sketches of "Red Books". Firstly, he designed systemic routes in his clients' properties by considering different types of movements between walks and drives. Secondly, he often used the visual effects of panoramic views for his sketches in order to allow his clients to experience the human visual field. Lastly, he constructed sequences of sketches in order to provide his clients with an illusion of movement; in other words, Repton's sketches functioned as potential visual media to produce the duration of time in a visual experience. Thus, the garden aesthetics of the time reflected the contemporary visual culture, that is to say, a panoramic vision pertaining to visual motion.

• Journal of the Institute of Convergence Signal Processing
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• v.12 no.1
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• pp.26-32
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• 2011

This paper proposes a new method to process panoramic image stitching using SURF(Speeded Up Robust Features). Panoramic image stitching is considered a problem of the correspondence matching. In computer vision, it is difficult to find corresponding points in variable environment where a scale, rotation, view point and illumination are changed. However, SURF algorithm have been widely used to solve the problem of the correspondence matching because it is faster than SIFT(Scale Invariant Feature Transform). In this work, we also describe an efficient approach to decreasing computation time through the homography estimation using RANSAC(random sample consensus). RANSAC is a robust estimation procedure that uses a minimal set of randomly sampled correspondences to estimate image transformation parameters. Experimental results show that our method is robust to rotation, zoom, Gaussian noise and illumination change of the input images and computation time is greatly reduced.