• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.30-34
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• 1998

Path Planning is one of the important fields in robot technologies. Local path planning may be done in on-line modes while recognizing an environment of robot by itself. In dynamic environments to obtain fluent information for environments vision system as a sensing equipment is a one of the most necessary devices for safe and effective guidance of robots. If there is a predictor that tells what future sensing outputs will be, robot can respond to anticipated environmental changes in advance. The tracking of obstacles has a deep relationship to the prediction for safe navigation. We tried to deal with active contours, that is snakes, to find out the possibilities of stable tracking of objects in image plane. Snakes are defined based on energy functions, and can be deformed to a certain contour form which would converge to the minimum energy states by the forces produced from energy differences. By using point algorithm we could have more speedy convergence time because the Brent's method gives the solution to find the local minima fast. The snake algorithm may be applied to sequential image frames to track objects in the images by these characteristics of speedy convergence and robust edge detection ability.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.8
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• pp.1424-1429
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• 2016

Segmentation is one of the first steps in most diagnosis systems for characterization of dental caries in an early stage. The purpose of automatic dental cavity detection system is helping dentist to make more precise diagnosis. We proposed the semi-automatic method for the segmentation of dental caries on digital x-ray images. Based on a manually and roughly selected ROI (Region of Interest), it calculated the contour for the dental cavity. A snake algorithm which is one of active contour models repetitively refined the initial contour and self-examination and correction on the segmentation result. Seven phantom tooth from incisor to molar were made for the evaluation of the developed algorithm. They contained a different form of cavities and each phantom tooth has two dental cavities. From 14 dental cavities, twelve cavities were accurately detected including small cavities. And two cavities were segmented partly. It demonstrates the practical feasibility of the dental lesion detection using Computer-aided Detection (CADe).

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.4
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• pp.101-109
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• 2014

It is an essential element for the establishment of image processing related systems to find the exact contour from the image of an arbitrary object. In particular, if a vision system is established to inspect the products in the automated production process, it is very important to detect the contours for standardized shapes such lines and curves. In this paper, we propose a prototype adaptive dynamic contour model, p-Snake with improved contour extraction algorithms by adding the prototype energy. The proposed method is to find the initial contour by applying the existing Snake algorithm after Sobel operation is performed for prototype analysis. Next, the final contour of the object is detected by analyzing prototypes such as lines and circles, defining prototype energy and using it as an additional energy item in the existing Snake function on the basis of information on initial contour. We performed experiments on 340 images obtained by using an environment that duplicated the background of an industrial site. It was found that even if objects are not clearly distinguished from the background due to noise and lighting or the edges being insufficiently visible in the images, the contour can be extracted. In addition, in the case of similarity which is the measure representing how much it matches the prototype, the prototype similarity of contour extracted from the proposed p-ACM is superior to that of ACM by 9.85%.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.601-606
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• 2013

3D scanning is a technique to measure the 3D shape information of the object. Shape information obtained by 3D scanning is expressed either as point cloud or as polygon mesh type data that can be widely used in various areas such as reverse engineering and quality inspection. 3D scanning should be performed as accurate as possible since the scanned data is highly required to detect the features on an object in order to scan the shape of the object more precisely. In this study, we propose the method on finding the location of feature more accurately, based on the extended Biplane SNAKE with global optimization. In each iteration, we project the feature lines obtained by the extended Biplane SNAKE into each image plane and move the feature lines to the features on each image. We have applied this approach to real models to verify the proposed optimization algorithm.

• Journal of KIISE:Software and Applications
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• v.32 no.5
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• pp.357-365
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• 2005

We present a B-spline fitting method based on genetic algorithm for the extraction of object contours from the complex image sequence, where objects with similar shape and intensity are adjacent each other. The proposed algorithm solves common malfitting problem of the existing B-spline fitting methods including snakes. Classical snake algorithms have not been successful in such an image sequence due to the difficulty in initialization and existence of multiple extrema. We propose a B-spline fitting method using a genetic algorithm with a new initial population generation and fitting function, that are designed to take advantage of the contour of the previous slice. The test results show that the proposed method extracts contour of individual object successfully from the complex image sequence. We validate the algorithm by false-positive/negative errors and relative amounts of agreements.

• The KIPS Transactions:PartB
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• v.17B no.5
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• pp.375-380
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• 2010

Most of previous algorithms of object boundary extraction have been studied for extracting the boundary of single object. However, multiple objects are much common in the real image. The proposed algorithm of extracting the boundary of each of multiple objects has two steps. In the first step, we propose the fast method using the outer and inner products; the initial contour including multiple objects is split and connected and each of new contours includes only one object. In the second step, an improved active contour model is studied to extract the boundary of each object included each of contours. Experimental results with various test images have shown that our algorithm produces much better results than the previous algorithms.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1853_1854
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• 2009

본 논문은 스네이크 에너지에 칼라분산 성분을 추가함으로써 스네이크 알고리즘을 이용하는 강인한 영상분할기법을 제안한다. 일반적인 스네이크 알고리즘은 영상의 밝기 값만을 고려하여 관심영역을 분할하기 때문에 인접하는 영역과 다른 칼라정보를 갖더라도 인접하는 물체와 유사한 밝기 값을 가지면 영상분할하기 어렵다. 제안하는 알고리즘은 복잡한 배경에서 인접하는 영역과 칼라성분이 다른 관심영역을 효율적으로 분할하기 위해, 기존의 snake 알고리즘에 칼라분산(color variance) 에너지 요소를 추가하였다. 특정 칼라 값을 갖는 물체들이 섞여있는 복잡한 배경 영상들의 실험을 통해 제안하는 칼라분산 기반 확장 스네이크 알고리즘의 우수성을 입증하였다.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.660-667
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• 2006

This paper presents a novel region-based snake method for vessel segmentation. According to geometric shape analysis of the vessel structure with different scale, an efficient statistical estimation of vessel branches is introduced into the energy objective function, which applies not only the vessel intensity information, but also geometric information of line-like structure in the image. The defined energy function is minimized using the gradient descent method and a new region-based speed function is obtained, which is more accurate to the vessel structure and not sensitive to the initial condition. The narrow band algorithm in the level set framework implements the proposed method, the solution of which is steady. The segmentation experiments are shown on several images. Compared with other geometric active contour models, the proposed method is more efficient and robust.

• The Transactions of the Korea Information Processing Society
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• v.6 no.10
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• pp.2809-2815
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• 1999

Level set, and active contour(snakes) models are extensively used for image segmentation or shape extraction in computer vision. Snakes utilize the energy minimization concepts, and level set is based on the curve evolution in order to extract contours from image data. In general, these two models have their own drawbacks. For instance, snake acts pooly unless it is placed close to the wanted shape boundary, and it has difficult problem when image has multiple objects to be extracted. But, level set method is free of initial curve position problem, and has ability to handle topology of multiple objects. Nevertheless, level set method requires much more calculation time compared to snake model. In this paper, we use good points of two described models and also apply multi resolution algorithm in order to speed up the process without decreasing the performance of the shape extraction.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.7 no.3
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• pp.383-391
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• 2017

In image processing, image segmentation has been studied by various methods in a long time. Image segmentation is the process of partitioning a digital image into multiple objects and face detection is a typical image segmentation field being used in a variety of applications that identifies human faces in digital images. In this paper, we propose a method for extracting the contours of faces included in images. Using the Viola-Jones algorithm, to do this, we detect the approximate locations of faces from images. But, the Viola-Jones algorithm could detected the approximate location of face not the correct position. In order to extract a more accurate face region from image, we use skin color in this paper. In details, face region would be extracted using the analysis of horizontal and vertical histograms on the skin area. Finally, the face contour is extracted using snake algorithm for the extracted face area. In this paperr, a modified snake energy function is proposed for face contour extraction based snake algorithm proposed by Williams et al.[7]