• Journal of Digital Convergence
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• v.13 no.1
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• pp.297-304
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• 2015

Recently, the demand for a PRT(Personal Rapid Transit) system based on autonomous navigation is increasing. Accordingly, the applicability investigations of the PRT system on rail tracks or roadways have been widely studied. In the case of unmanned vehicle operations without physical guideways on roadways, to monitor the position of the vehicle in real time is very important for stable, robust and reliable guidance of an autonomous vehicle. The Global Positioning System (GPS) has been commercially used for vehicle positioning. However, it cannot be applied in environments as tunnels or interiors of buildings. The PRT navigation system based on magnetic markers reference sensing that can overcome these environmental restrictions and the vehicle dynamics model for its H/W configuration are presented in this study. In addition, the design of a control S/W dedicated for unmanned operation of a PRT vehicle and its prototype implementation for experimental validation on a pilot network were successfully achieved.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.3
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• pp.53-61
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• 2012

This paper proposes a real-time distance measurement system of high temperature and high speed target using infrared stereo camera. We construct an infrared stereo camera system that measure the difference between target and background temperatures for automatic target measurement. First, the proposed method detects target region based on target motion and intensity variation of local region using difference between target and background temperatures. Second, stereo matching by left and right target information is used to estimate disparity about real-time distance of target. In the proposed method using infrared stereo camera system, we compare distances in three dimension trajectory measuring instrument and in infrared stereo camera measurement. In this experiment from three video data, the result shows an average 9.68% distance error rate. The proposed method is suitable for distance and position measurement of varied targets using infrared stereo system.

• Proceedings of the Korean Information Science Society Conference
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• 1999.10c
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• pp.742-744
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• 1999

효율적인 항만 운영을 위해서는 항만 하역 장비의 자동화와 하역 장비의 효과적인 운영이 필요하다. 하역 장비를 제작하고 그 운영을 실제로 현장에서 직접 시도하여 그 결과를 분석하기에는 시간과 비용이 많이 소모되므로 이를 효과적으로 행하기 위해서 시뮬레이션 방법이 많이 이용된다. 본 논문은 VR 기술을 항만 하역 장비의 시뮬레이션에 적용한 것으로, 기존 컴퓨터 시뮬레이션의 단점인 현실감 부족을 개선하고 실제 하역 장비의 모형을 만들어 시뮬레이션에 이용했다. 사용자는 실제 하역 장비들의 하역 과정을 3차원 공간에서 표현된 컴퓨터 화면을 통해 현장과 유사한 현실감을 느끼면서 시뮬레이션 할 수 있으며, 하역 장비들에 대한 다양한 정보를 얻을 수 있다. 향후로는 실제 하역 장비의 이동과 위치 추정 및 감시, 작업 통제 등이 가능한 하역 장비 운영을 위한 실시간 통합 운영 시스템이 될 수 있도록 할 예정이다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.6
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• pp.1497-1508
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• 1993

Real-time mobile robot controllers usually have been designed focused on control theory without paying attention to the importance of system integration. This paper demonstrates that autonomous mobile robots require a real-time controller with a wide range of capabilities in addition to control theory. An architectural frame work supporting these capabilities has been designed in actual hardware environments. Individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system using this frame work. The overall performance of the system was investigated via a series of tracking experiments with a prototype mobile robot named LCAR deveoped in the laboratory. The context of the research involves the architecture, its implementation and experimental results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.1C
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• pp.26-35
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• 2006

In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.

• Journal of Digital Convergence
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• v.14 no.12
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• pp.231-236
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• 2016

Currently, a traffic monitoring service using a surveillance camera is provided through internet. In general, if the user points a certain location on a map, then this service shows the real-time image of the camera where it is mounted. In this paper, we proposed the intuitive surveillance monitoring system which displays a real-time camera image on the map by warping with bird's-eye view and with the top of image as the north. In order to robustly estimate the road plane using camera image, we used the motion vectors which can be detected to changes in brightness. We applied a re-adjustment process to have the same directivity with a map and presented a user-friendly interface that can be displayed on the map. In the experiment, the proposed method was presented as the result of warping image that the user can easily perceive like a map.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.7
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• pp.1280-1286
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• 2001

In this Study, we try to suggest a system that recognize worker's regular motion more effectively First, based on frame difference that separates still background from movable object to video that make a film of worker's motion. The next, with edge detection, estimating the center of motion could recognize continuous motion. By action cognition system that design in this research films worker's action using fixed CCTV to supplement problem of action awareness system that is applied in existent industry spot, various mountings to get action information minimized. Also, shorten session that need in awareness enforcing action awareness through image subtraction and edge detection between frame to reduce time necessary to draw worker's body part special quality, expense designed inexpensive action cognition system as being efficient.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.721-723
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• 2007

Recently, the size and location of the acquired container image while the container is loading and unloading in Harbors is not fixed. And it is difficult to get a good image for recognition because of the variation of external environment as those the size of container and where the yard-tractor stop is. In this paper, we estimate where the container ISO-code set is using Top-hat transform from realtime images and get an image to recognize container ISO-code using PAN/TILT/ZOOM camera. We extract the container ISO-code using Top-hat transform and Histogram projection. After binarization, we extract each character from complex background using labeling. We use BP(Backpropagation Network) to recognize extracted characters.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.5
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• pp.923-932
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• 2017

In this paper, we propose a GRNN(: Generalized Regression Neural Network) algorithms for new eyes and face recognition identification system to solve the points that need corrective action in accordance with the existing problems of facial movements gaze upon it difficult to identify the user and. Using a Kalman filter structural information elements of a face feature to determine the authenticity of the face was estimated future location using the location information of the current head and the treatment time is relatively fast horizontal and vertical elements of the face using a histogram analysis the detected. And the light obtained by configuring the infrared illuminator pupil effects in real-time detection of the pupil, the pupil tracking was to extract the text print vector. The abstract is to be in fully-justified italicized text as it is here, below the author information.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.159-166
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• 2016

In this paper, an active object tracking system basing on the pan/tilt-embedded stereo camera system is suggested and implemented. In the proposed system, once the face area of a target is detected from the input stereo image by using a YCbCr color model and phase-type correlation scheme and then, using this data as well as the geometric information of the tracking system, the distance and 3D information of the target are effectively extracted in real-time. Basing on these extracted data the pan/tilted-embedded stereo camera system is adaptively controlled and as a result, the proposed system can track the target adaptively under the various circumstance of the target. From some experiments using 480 frames of the test input stereo image, it is analyzed that a standard variation between the measured and computed the estimated target's height and an error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 1.03 and 1.18% on average, respectively. From these good experimental results a possibility of implementing a new real-time intelligent stereo target tracking and surveillance system using the proposed scheme is finally suggested.