• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.160-167
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• 2016

This paper reports a localization method of a mobile robot using ceiling image. The ceiling has landmarks which are not distinguishablefrom one another. The location of every landmark in a map is given a priori while correspondence is not given between a detected landmark and a landmark in the map. Only the initial pose of the robot relative to the landmarks is given. The method uses particle filter approach for localization. Along with estimating robot pose, the method also associates a landmark in the map to a landmark detected from the ceiling image. The method is tested in an indoor environment which has circular landmarks on the ceiling. The test verifies the feasibility of the method in an environment where range data to walls or to beacons are not available or severely corrupted with noise. This method is useful for localization in a warehouse where measurement by Laser range finder and range data to beacons of RF or ultrasonic signal have large uncertainty.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.442-448
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• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.223-224
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• 2022

본 논문에서는 축형 척추관절염으로 발전할 수 있는 천장관절염 환자들을 진단하기 위해 장골의 관심영역을 자동 생성할 수 있는 세그멘테이션 방법을 제안한다. 다양한 MRI 기기로부터 얻은 천장관절염 환자의 영상에서 장골의 GT(Ground Truth)를 생성하였으며, 대장 용종 검출을 위한 세그멘테이션 모델인 PraNet과 지역 특징 간의 표현 능력을 활용할 수 있는 Position Attention Module을 사용하여 유의미한 성능 향상을 보여주었다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.5-12
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• 2010

A novel algorithm which computes the orientations and the locations of mobile robots with repeating feature of ceiling textures is proposed. For orientation computation, the relative angle between a strait line on a ceiling image and the center line of the robot is firstly computed. The relative angle is added to the global reference angles of straight lines of the ceiling and a group of robot orientation candidates is composed. The robot orientation is determined from such orientation candidate group by choosing the closest one to the previous robot orientation. Similarly, the location of the robot is determined from the robot location candidate group by choosing the closest one to the previous robot location, where robot location candidate group is composed by adding the relative location of the robot to global locations of neighboring nodes of the previous robot locations. The experiment has been done to test the accuracy of the algorithm in computing locations and orientations.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.6
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• pp.199-206
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• 2012

Attempt to use as a marker of natural objects directly in the real world, but there is a way to use the accelerometer of the smartphone, to convert the Frontal-View virtual, because it asks only the pitch of the camera, from the side there is a drawback that can not be converted to images. The proposed algorithm, to obtain the rotation matrix of axis 3 pitch, roll, yaw, we set the reference point of the yaw of the target image. Then, to compensate for the rotation matrix to determine Myon'inji any floor, wall, the ceiling of the target image. Finally, to obtain the homography matrix for obtaining the Frontal-View to account for the difference between the gyro sensor coordinate system and image coordinate system, so we can get the Frontal-View from the captured images through the projection transformation was designed. Was tested to convert Frontal-View the picture was taken in an environment smartphone environment surrounding floor, walls and ceiling in order to evaluate the conversion program Frontal-View has been implemented, in this paper, design and The conversion algorithm implementation, it was confirmed that to convert a regular basis Frontal-View footage taken from multiple angles.

• Proceedings of the Korean Information Science Society Conference
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• 2008.06c
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• pp.468-471
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• 2008

이 논문은 응급상황을 인식하기 위하여 어안렌즈를 통해 획득된 영상을 이용하여 기절 동작을 인식하는 방법을 제안한다. 거실의 천장 중앙에 위치한 어안렌즈(fish-eye lens)를 장착한 카메라로부터 화각이 170인 RGB 컬러 모델의 어안 영상을 입력 받은 뒤, 가우시안 혼합 모델 기반의 적응적 배경 모델링 방법을 이용하여 동적으로 배경 영상을 갱신한다. 입력 영상의 평균 밝기를 구하고 평균 밝기가 급격하게 변화하지 않도록 영상 픽셀을 보정한 뒤, 입력 영상과 배경 영상과 차이가 큰 픽셀을 찾음으로써 움직이는 객체를 추출하였다. 그리고 연결되어 있는 전경 픽셀 영역들의 외곽점들을 추적하여 타원으로 매핑하고 움직이는 객체 영역의 형태를 단순화하였다. 이 타원을 추적하면서 어안 렌즈 영상을 투시 영상으로 변환한 다음 타원의 크기 변화, 위치 변화, 이동 속도 정보를 추출하여 이동과 정지 및 움직임이 기절동작과 유사한지를 판단하도록 하였다. 본 논문에서는 실험자로 하여금 기절동작, 걷기 동작, 앉기 동작 등 여러 동작을 취하게 하고 기절 동작 인식을 실험하였다. 실험 결과 어안 렌즈 영상을 그대로 사용하는 것보다 투시 영상으로 변환하여 타원의 크기변화, 위치변화, 이동속도 정보를 이용하는 것이 높은 인식률을 보였다.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.8
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• pp.1042-1050
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• 2003

A heating flow discharged from a 4-way ceiling type indoor unit has been investigated to determine the design parameters for the optimal flow control. The flow was measured by a PIV(particle image velocimetry) system and an experimental model of 1/10 scale with a transparent room was devised by satisfying the Archimedes number. This similarity is generally used in cases where the forced convection has similar magnitude of the natural convection. To optimize the heating flow, several vane angles and vane control algorithms of cross and right angle controls were considered. Regarding the vane angle, experimental results show that 30$^{\circ}$is an optimal angle to avoid re-suction flows without significant increase in flow noise. Temperature distribution measured in the environmental chamber ensures the increased thermal comfort when compared to the case, 60$^{\circ}$angle. At the optimal angle, applying open/close control gives rise to more uniform distribution of the heating flow than without control. Especially, the cross-control seems to be satisfactory for thermal comfort.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.533-536
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• 2002

A heating flow discharged from a 4-way ceiling type indoor unit has been investigated using a PIV(particle image velocimetry) system For the PIV measurements, an experimental model of 1/10 scale with a transparent room was devised by satisfying the Archimedes number, which is generally used in case that the forced convection has the similar magnitude as the natural convection. To optimize the heating flow, several vane angles and vane control algorithms of cross and right angle controls were considered. Regarding the vane angle, the experimental results show that it should be less than $30^{\circ}$ to avoid re-suction flows which decrease the performance of the air-conditioner. At the vane angle of $30^{\circ}$, applying open/close control gives nae to more uniform distribution of the heating flow than without control. Especially, the cross-control seems to be satisfactory for the thermal comfort.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1431-1434
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• 2015

24시간 모니터링 환경에서 돈사 내 개별 돼지들의 상태를 자동으로 탐지하는 연구는 효율적인 돈사 관리 측면에서 중요한 이슈로 떠오르고 있다. 특히 돼지 호흡기 질병은 전염성이 매우 강하여, 막대한 경제적 손실을 최소화하기 위해서는 조기에 탐지하는 것이 매우 중요하다. 본 논문에서는 마이크를 통한 소리 정보뿐 아니라 카메라를 통한 영상 정보를 동시에 활용하여 호흡기 질병에 걸린 개별 돼지를 조기에 탐지하는 방법을 제안한다. 즉, 돈사의 천장에 설치된 마이크로부터 호흡기 질병에 걸린 소리 정보를 먼저 탐지한 후 카메라로부터 획득된 영상 정보의 MHI 분석을 수행하여 호흡기 질병에 걸린 돼지를 특정한다. 실험결과, 소리와 영상 정보를 동시에 활용하는 제안 방법을 이용하여 호흡기 질병에 걸린 돼지를 특정할 수 있음을 확인하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.5
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• pp.560-566
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• 2005

In this paper, a practical technique for correction of a distorted image for vision-based localization of ubiquitous mobile robot. The localization of mobile robot is essential and is realized by using camera vision system. In order to wide the view angle of camera, the vision system includes a fish-eye lens, which distorts the image. Because a mobile robot moves rapidly, the image processing should he fast to recognize the localization. Thus, we propose the practical correction technique for a distorted image, verify the Performance by experimental test.