그림 2. 그룹화된 5개의 외곽선 방향 Fig. 2. Five grouped edge detections
그림 3. 사각형 검출 Fig. 3. Rectangular region detection
그림 4. HCT를 이용한 원 검출 Fig. 4. Circle detection using HCT
그림 5. 원의 최대 최소 크기 Fig. 5. Maximum and minimum size of circle
그림 6. S, V값 추출 Fig. 6. S and V value extraction
그림 7. 신호등에서 R, Y, G 색상 인식 Fig. 7. Recognition of R, Y, G Colors in Traffic Light
그림 8. 원 미검출 및 유사 색상 인식 Fig 8. Circle non-detection and similar color recognition
그림 1. 최초 관심영역 Fig. 1. Region of first interest
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