• 대한수학회지
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• 제35권4호
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• pp.855-867
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• 1998

In the present paper, we introduce the notions of quaternionically planar curves and quaternionically projective transformations to the case of almost quaternionic manifold with symmetric affine connection. Also, we obtain an invariant tensor field under the quaternionically projective transformation, and show that a quaternionic Kahlerian manifold with such a vanishing tensor field is of constant Q-sectional curvature.

• 제어로봇시스템학회논문지
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• 제21권1호
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• pp.21-27
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• 2015

A conventional fire detection has been developed based on images captured from a fixed camera. However, It is difficult to apply current algorithms to a flying Quad-rotor to detect fire. To solve this problem, we propose that the fire detection algorithm can be modified for Quad-rotor using Ego-motion compensation. The proposed fire detection algorithm consists of color detection, motion detection, and fire determination using a randomness test. Color detection and randomness test are adapted similarly from an existing algorithm. However, Ego-motion compensation is adapted on motion detection for compensating the degree of Quad-rotor's motion using Planar Projective Transformation based on Optical Flow, RANSAC Algorithm, and Homography. By adapting Ego-motion compensation on the motion detection step, it has been proven that the proposed algorithm has been able to detect fires 83% of the time in hovering mode.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1121-1125
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• 2003

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• 융합신호처리학회논문지
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• 제12권4호
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• pp.242-249
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• 2011

화면 내의 평면영역에서 투영변환행렬 대응 매칭법을 제안한다. 본 연구는 RANSAC에 있지만, RANSAC에서 랜덤 샘플링에 균일분포를 이용하는 것아 아니고, 화상의 특징점 위치나 템플리트 매칭의 차이로부터 구한 다중의 비균일 분포를 이용한다. 기존의 매칭법은 정대응이 거의 만족해야 할 조건을 이용하여 올바르다고 추정되는 대응을 샘플링하고, 그 대응을 1대 1로 매칭시켜 RANSAC을 행하였지만, 제안 방법에서는 화상으로부터 구한 다중의 확률 분포에서 단계적으로 샘플링함으로써 확률이 높은 정대응을 다중의 대응 후보 중에서 효율적으로 샘플링할 수 있다. 그 결과 최종적으로 수많은 정대응을 구할 수 있으며, 시뮬레이션과 실제 화상의 실험에 의하여 제안 방법의 유효성을 검증한다.