• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.1-10
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• 2008

An occupancy map is a representation methodology describing the region occupied by objects in 3D space, which can be utilized for autonomous navigation and object recognition. In this paper, we describe a technique for building an occupancy map using depth data extracted from stereo images. In addition, some techniques are proposed for utilizing the occupancy map for the segmentation of object regions. After the geometric information on the ground plane is extracted from a disparity image, the occupancy map is constructed by projecting each matched point to the ground plane-based 3D space. We explain techniques for extracting moving object regions using the occupancy map and present experimental results using real stereo images.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2471-2473
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• 2003

인간의 안구는 색과 모양을 식별하는 데에 관여하는 원추 세포와 물체의 명암을 구분하는 간상 세포로 구성되어지는 시세포를 가진다. 망막 위에 분포되어 있는 시세포들은 시축을 중심으로 각기 다른 밀도로 분포 되어 있다. 특히 광축과 만나는 중심 지역은 Fovea라고 하는 직경 1mm 정도의 작은 우물을 이루고 있는데 원추 세포들이 고해상도로 분포되어 있고 시신경과 일대일로 연결되어 있어 시각 처리의 중심이 된다. 특히, 글자나 물체를 인식하기 위해 인간은 대상물을 응시하여 대상물의 영상이 Fovca영역에 맺히도록 추적 운동을 계속한다. 본 논문에서는 인간의 눈과 유사한 망막 모델의 하나인 Log-polar Image를 이용한 물체 인식을 위해 물체를 Log-polar Image Plane의 중심에 위치시키기 위한 모멘텀(Momentum)기반 정합 알고리즘(Alignment Algorithm)을 제시한다. 이는 눈동자 운동이 가능한 능동형 시각 장치의 Tracking 및 Pursuit 동작 중에 밭생하는 추적 오차를 보상함으로써 운동 중에도 효과적인 물체 인식이 가능하게 한다. 또한, 물체를 Log-polar Image Plane의 중심에 위치시킴으로써 물체의 위치 이동, 회전이동 그리고 크기 변화에 무관하게 물체를 인식한 수 있음을 제시한다.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.568-576
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• 1999

Using a laser sheet beam projector combined with a CCD-Camera, an efficient technique to recognize complex surface of curvature and lane has been demonstrated for the purpose of mobile robot navigation. In general, obstacles of indoor environments in the field of SLIT-RAY plane are captured as segments of an elliptical arc and a line in the camera image. The robot has been capable of moving along around the obstacle in front of it, by recognizing the original shape of each segment with the differential coefficient by means of least squares method. In this technique, the imaged pixels of each segment, particularly elliptical arc, have been converted into a corresponding circular arc in the real-world coordinates so as to make more feasible the image processing for the position and radius measurement than conventional way based on direct elliptical are analyses. Advantages over direct elliptical cases include 1) higher measurement accuracy and shorter processing time because the circular arc process can reduce the shape-specifying parameters, 2) no complicated factor such as the tilt of elliptical arc axis in the image plane, which produces the capability to find column position and radiua regardless of the camera location . These are essentially required for a mobile robot application. This technique yields an accuracy less than 2cm for a 28.5cm radius column located in the range of 70-250cm distance from the robot. The accuracy obtained in this study is sufficient enough to navigate a cleaning robot which operates in indoor environments.

• Journal of Digital Convergence
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• v.14 no.4
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• pp.397-405
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• 2016

Specially, the character in the kids animation is the fundamental visual element, and also has the high value which is to connect to various related businesses. The main purpose of this study is the analysis for character's appearance by the basic plane figure, and it has studied on the authority of recognition capability which is to catch the simple shape rapidly and clearly rather than complex shape. For this study, I established the standard of analysis and then applied that to the characters which were selected in broadcasting domestic kids animation on EBS. Through this procedure, I analyzed character's appearance with the distribution chart. As the result, the circular and oval shapes are the most frequently used shapes for character's appearance. Finally, I expect the result of this study could be one of the design index for the character creation in practical environment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of Advanced Navigation Technology
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• v.12 no.6
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• pp.659-665
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• 2008

We demonstrate experimentally that the method of Two-pupil optical scanning technique with PAL-spatial light modulator is capable of performing real-time joint transform correlation(JTC) optical system. Optical addressing is achieved by the use of a photosensitive layer of $\alpha$ - Si which controls the electric field across the liquid crystal The demonstrated technique is based on two-pupil optical heterodyne scanning. The method is independent of a spatial light modulator (SLM) in the Fourier plane. We develop the theory of the technique and evaluate a performance of the method by experimentally estimating the correlation between the target image and the reference image.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.4
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• pp.138-144
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• 2014

Now, Autonomous unmanned vehicle has become an issue in next generation technology. 2D Laser scanner as the distance measurement sensor is used. 2D Laser scanner detects the distance of 80m, measured angle is -5 to 185 degree. Laser scanner detects only the plane, but using motor swings. As a result, traffic signs detect and analyze patterns. Traffic signs when driving at low speed, shape of the detected pattern is very similar. By shaking the laser scanner, traffic signs and other obstacles became clear distinction.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.12B
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• pp.2415-2423
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• 1999

We propose a new optical method which conceals the data of authorized persons by encryption before they are stored or compared in the pattern recognition system for security systems. This proposed security system is made up of two subsystems : a proposed optical encryption system and a pattern recognition system based on the JTC which has been shown to perform well. In this system, each image of authorized persons as a reference image is stored in memory units through the proposed encryption system. And if a fingerprint image is placed in the input plane of this security system for access to a restricted area, the image is encoded by the encryption system then compared with the encrypted reference image. Therefore because the captured input image and the reference data are encrypted, it is difficult to decrypt the image if one does not know the encryption key bit stream. The basic idea is that the input image is encrypted by performing optical XOR operations with the key bit stream that is generated by digital encryption algorithms. The optical XOR operations between the key bit stream and the input image are performed by the polarization encoding method using the polarization characteristics of LCDs. The results of XOR operations which are detected by a CCD camera should be used as an input to the JTC for comparison with a data base. We have verified the idea proposed here with computer simulations and the simulation results were also shown.

• Korean Journal of Remote Sensing
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• v.7 no.2
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• pp.131-147
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• 1991

Feature enhancement combined with some pattern recognition techiques were applied to the Remote Sensing Data for geological mapping with particular emphasis on non-me-tallic ore deposits and their related geologies. The area chosen is north of Ulsan, the size of which is about 400km$^2$. The geology of the area consists mainly of volcanics, volcanic sediments and clastic sediments of Miocene age, underlain by the Kyungsang sediments of Cretaceous age. The mineralization occurs in tuffs or along the bedding plane of tuffaceous sediments, the main products of which are Kaolinite and Bentonite. The outcrops or mine dumps in the study area were most effectively extracted on the histrogram normalized image of TM Band 1 and 2, due to their high reflectivity. These may be confused with some artificial features, like slate roof complex of the poultry farm or cement ground, which should be classified by field checking. Detailed examination of enhancment image combined with pattern recognition techniques made enable to classify different rocks and thereby extract volcanic products which are mainly related to non-metallic ore deposits in the study area.

• Plant Journal
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• v.16 no.4
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• pp.33-39
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• 2020

For several decades, productivity in construction industry has been regressed and it is inevitable to improve productivity for major EPC players. One of challenges to achieve this goal is automatically extracting information from imaged drawings. Although computer vision technique has been advanced rapidly, it is still a problem to detect pipe lines in a drawing. Earlier works for line detection have problems that detected line elements be broken into small pieces and accuracy of detection is not enough for engineers. Thus, we adopted Contour and Hough Transform algorithm and reinforced these to improve detection results. First, Contour algorithm is used with Ramer Douglas Peucker algorithm(RDP). Weakness of contour algorithm is that some blank spaces are occasionally found in the middle of lines and RDP covers them around 17%. Second, HEC Hough Transform algorithm, we propose on this paper, is improved version of Hough Transform. It adopted iteration of Hough Transform and merged detected lines by conventional Hough Transform based on Euclidean Distance. As a result, performance of Our proposed method improved by 30% than previous.