• The Journal of the Korea institute of electronic communication sciences
• /
• v.11 no.2
• /
• pp.185-190
• /
• 2016

This paper deals with analysis of the characteristics of mobile robot's motion by automatic detection of markers on a robot using a camera. Analysis of motion behaviors according to parameters is important in developing control algorithm for robot operation or autonomous navigation. For this purpose, we use four chessboard patterns on the robot. Their location on the robot is adjusted to be on single plane. Homography is used to compute the actual amount of movement of the robot. Presented method is tested using P3-AT robot and it gives reliable results.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.12 no.1
• /
• pp.123-128
• /
• 2017

This paper deals with performing missions through autonomous navigation using camera and other sensors. Extracting pose of the car is necessary to navigate safely within the given road. Homography is used to find it. Color image is converted into grey image and thresholding and edge is used to find control points. Two control ponits are converted into world coordinates using homography to find the angle and position of the car. Color is used to find traffic signal. It was confirmed that the given tasks performed well through experiments.

• Proceedings of the Korean Information Science Society Conference
• /
• 2011.06c
• /
• pp.440-442
• /
• 2011

본 논문에서는 객체 검출을 위한 지면가정에 기반한 스테레오 시차영상의 획득방법을 제안한다 지면과 좌우 영상간의 호모그라피를 사용하여 정합비용을 정의하고 지면기준의 시차에 대해서 4방향의 정합비용을 집계하여 시차를 결정한다. 또한 획득된 시차영상에서 나타나는 정합오류들은 중간값 필터와 연결성분 분석을 통하여 제거하고 이를 이진화하여 객체의 검출에 활용한다. 영상평면과 평행한 평면을 기준으로한 기존의 시차정합방법과는 달리 지면보다 아래에 대한 정합 비용이 고려되지 않으며 시차영상으로부터 거리 영상을 획득하여 처리하는 과정을 거치기 전에 객체를 검출할 수 있다는 장점이 있다.

• Journal of Korean Society for Geospatial Information Science
• /
• v.21 no.2
• /
• pp.11-17
• /
• 2013

Nowadays 3D models are used in diverse sectors. The 3D maps provide better reality than existing plane maps as well as diverse pieces of information that cannot be expected from the limited plane maps. A process proposed in this paper enables easy and quick production by replacing the expensive laser scanners for modeling by an improved digital camera stereo matching algorithm. The algorithm used in this study was a SURF algorithm contained in the OpenCV library. The unconformity points of the algorithm were eliminated using the homography conversion and epipolar lines. In addition, the improved algorithm was compared with the commercial program, and it showed a better performance than the commercial program. It is expected that the proposed method can contribute to the digital maps and 3D virtual reality because it enables easy and quick 3D modeling provided that the stereo matching conditions are met.