• Journal of the Institute of Convergence Signal Processing
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• v.24 no.4
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• pp.192-198
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• 2023

This paper proposes an algorithm for autonomous mobile robots to effectively navigate obstacles. In order to detect obstacles infrared sensors and cameras are employed. The infrared sensor is utilized to calculate the distance to obstacles while the captured images from the camera are used to determine the width of obstacles. To compute obstacle width, binary image processing, contour detection, and the minimum area rectangle technique are employed. Using the distance to obstacles and obstacle width, the avoidance angle is calculated, and this angle is incorporated into steering control. The proposed obstacle avoidance algorithm was implemented on an autonomous robot, and experimental results demonstrated a maximum reduction in avoidance time by 8.5 seconds compared to using only infrared sensors when the obstacle width is 30cm.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.45 no.3
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• pp.177-187
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• 2009

This paper describes a automatic video surveillance system(AVSS) with long range and 360$^{\circ}$ coverage that is automatically rotated in an elevation over azimuth mode in response to the TTM(tracked target message) signal of vessels tracked by ARPA(automatic radar plotting aids) radar. This AVSS that is a video security and tracking system supported by ARPA radar, CCTV(closed-circuit television) camera system and other sensors to automatically identify and track, detect the potential dangerous situations such as collision accidents at sea and berthing/deberthing accidents in harbor, can be used in monitoring the illegal fishing vessels in inshore and offshore fishing ground, and in more improving the security and safety of domestic fishing vessels in EEZ(exclusive economic zone) area. The movement of the target vessel chosen by the ARPA radar operator in the AVSS can be automatically tracked by a CCTV camera system interfaced to the ECDIS(electronic chart display and information system) with the special functions such as graphic presentation of CCTV image, camera position, camera azimuth and angle of view on the ENC, automatic and manual controls of pan and tilt angles for CCTV system, and the capability that can replay and record continuously all information of a selected target. The test results showed that the AVSS developed experimentally in this study can be used as an extra navigation aid for the operator on the bridge under the confusing traffic situations, to improve the detection efficiency of small targets in sea clutter, to enhance greatly an operator s ability to identify visually vessels tracked by ARPA radar and to provide a recorded history for reference or evidentiary purposes in EEZ area.

• Journal of the Korea Society of Computer and Information
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• v.21 no.10
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• pp.11-19
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• 2016

The size of a display is large, The form becoming various of that do not apply to previous methods of gaze tracking and if setup gaze-track-camera above display, can solve the problem of size or height of display. However, This method can not use of infrared illumination information of reflected cornea using previous methods. In this paper, Robust pupil detecting method for eye's occlusion, corner point of inner eye and center of pupil, and using the face pose information proposes a method for calculating the simply position of the gaze. In the proposed method, capture the frame for gaze tracking that according to position of person transform camera mode of wide or narrow angle. If detect the face exist in field of view(FOV) in wide mode of camera, transform narrow mode of camera calculating position of face. The frame captured in narrow mode of camera include gaze direction information of person in long distance. The method for calculating the gaze direction consist of face pose estimation and gaze direction calculating step. Face pose estimation is estimated by mapping between feature point of detected face and 3D model. To calculate gaze direction the first, perform ellipse detect using splitting from iris edge information of pupil and if occlusion of pupil, estimate position of pupil with deformable template. Then using center of pupil and corner point of inner eye, face pose information calculate gaze position at display. In the experiment, proposed gaze tracking algorithm in this paper solve the constraints that form of a display, to calculate effectively gaze direction of person in the long distance using single camera, demonstrate in experiments by distance.

• The KIPS Transactions:PartB
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• v.14B no.3 s.113
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• pp.163-170
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• 2007

In autonomous navigation of a mobile vehicle or a mobile robot, localization calculated from recognizing its environment is most important factor. Generally, we can determine position and pose of a camera equipped mobile vehicle or mobile robot using INS and GPS but, in this case, we must use enough known ground landmark for accurate localization. hi contrast with homography method to calculate position and pose of a camera by only using the relation of two dimensional feature point between two frames, in this paper, we propose a method to calculate the position and the pose of a camera using relation between the location to predict through perspective transform of 3D feature points obtained by overlaying 3D model with previous frame using GPS and INS input and the location of corresponding feature point calculated using KLT tracking method in current frame. For the purpose of the performance evaluation, we use wireless-controlled vehicle mounted CCD camera, GPS and INS, and performed the test to calculate the location and the rotation angle of the camera with the video sequence stream obtained at 15Hz frame rate.

• Journal of the Korea Society of Computer and Information
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• v.10 no.3 s.35
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• pp.143-150
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• 2005

Camera image is very sensitive to illumination that result in difficulties for recognizing character. Also Camera captured document images have not only skew but also vignetting effect and geometric distortion. Vignetting effect make it difficult to separate characters from the document images. Geometric distortion, occurred by the mismatch of angle and center position between the document image and the camera, make the shape of characters to be distorted, so that the character recognition is more difficult than the case of using scanner. In this paper, we propose a method that can increase the performance of character recognition by correcting the geometric distortion of document images using a linear approximation which changes the quadrilateral region to the rectangle one. The proposed method also determine the quadrilateral transform region automatically, using the alignment of character lines and the skewed angles of characters located in the edges of each character line. Proposed method, therefore, can correct the geometric distortion without getting positional information from camera.

• The Journal of the Korea Contents Association
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• v.10 no.2
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• pp.268-276
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• 2010

This study was to investigate the knee joint flexion angle and the foot pressure during climbing with different slope. The 24 healthy subjects were participated. And foot pressure was investigated using Parotec system. The knee joint flexion angle were filmed to using a video camera on each slope($0^{\circ},\;3^{\circ},\;6{\circ},\;9^{\circ}$). And knee joint angle was investigated by Dartfish. The data were analyzed ANOVAs. In conclusion, there was significantly different that knee joint flexion angle related on each slope angle. In foot pressure, there was significantly different in lateral heel area(1 cell), medial midfoot area(9 cell), medial forefoot area(15, 16 cell) of left foot, and in lateral heel area(3 cell) of right foot. There was significantly different of foot pressure in lateral and medial heel when knee joint flexion angle is between $10^{\circ}$ and $20^{\circ}$. There was change of gait cycle according to walking slop angle increasing, and the initial contact phase was shorter, the foot pressure in lateral heel was lower.

• Journal of KIISE:Software and Applications
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• v.36 no.8
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• pp.653-663
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• 2009

In this paper, we propose a blind spots elimination system using three cameras. A wide-angle camera is attached on trunk for eliminating blind spots of a rear-view mirror and two cameras are attached on each side-view mirror for eliminating blind spots of vehicle's sides. In order to eliminate blind spots efficiently, we suggest a method to build a panoramic mosaic view with two side images and one wide-angle rear image. First, we obtain an undistorted image from a wide-angle camera of rear-view and calculate the focus-of-contraction (FOC) in undistorted images of rear-view while the car is moving straight forward. Second, we compute a homography among side-view images and an undistorted image of rear-view in flat road scenes. Next, we perform an image registration process after road and background region segmentation. Finally, we generate various views such as a cylinder panorama view, a top view and an information panoramic mosaic view.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.4 s.148
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• pp.422-430
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• 2006

The horn and movable parts around the gap of the conventional semi-spade rudder are visualized by high speed CCD camera with the frame rate of 4000 fps (frame per second) to study the unsteady cavity pattern on the rudder surface and gap. In addition, the pressure measurements are conducted on the rudder surface and inside the gap to find out the characteristics of the flow behavior. The rudder without propeller wake is tested at the range of $1.0{\leq}{\sigma}_v\;1.6$ and at the rudder deflection angle of $-8{\leq}{\theta}{\leq}10^{\circ}$. The time resolved cavity images are captured and show strong cavitation around the rudder gap in all deflection angles. As the deflection angle gets larger, the flow separated from the horn surface increases the strength of cavitation. The accelerated flow along the horn decreases its pressure and the separated flow from the horn increases the pressure abruptly. The pressure distribution inside the gap reveals the flow moving from the pressure to suction side. In the negative deflection angle, the turning area on the movable part initiates the flow separation and cavitation on it.

• Korean Journal of Applied Biomechanics
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• v.13 no.2
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• pp.101-114
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• 2003

The purpose of this study was to examine the major kinematicak variance to Increase the club head velocity during the driver swing two PGA prp-golfers utilizing 3-dimensional Image analyzing linear velocity of the club-head during the impact quantiatively. To achive these purpose, two high speed camera in 120 field/s and one high-speed camera in 500 field/s were used in this study. The program made by Younghoo Kwon(1944) was used to analysis the digitalization of reference point, digitalization of joint venter, synchronization, calculation of 3-Dimensional coordinate by DLT method, and smoothing. Through this study, the conclusions are as follow. 1. During the drivel swing, in the percentile of the total time, two pro-golfer showed 0.925, 0.929 second from adress to top-swing, 0.236, 0.929 second from top-swing to impact. 2. During the driver swing, in the displacement of the center of the body, two pro-golfer showed 45.3, 45.23% from adress, 44.3, 44.24% front impact. 3. In the velocity variance, The maximum club-head velocity two pro-golfer showed 43.36, 43.24m/s respectively the down swing. The ball velocity showed 63.12, 63.06m/s. 4. In the rotational angle of the shoulder joint. two pro-golfer showed $-13.5,-13.53^{\circ}$, during the back swing respectively. Two subject adressed opening status og upper body. 5. In the rotational angle of the right knee angle showed $156.3,154.7^{\circ}$ from the adress.

• Journal of IKEEE
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• v.27 no.4
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• pp.512-517
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• 2023

In this study, we propose a liquid crystal-based polarization control technology that can control polarization by adjusting the voltage applied to the liquid crystal, and apply it to a Closed-circuit Television (CCTV) to transmit only the desired angle of polarized light. CCTV with conventional polarizing films cannot control polarization because they focus on backlight compensation, so light reflected from the water surface or highlights reflected from vehicles interfere with subject identification. However, the Vertical Alignment mode allows the polarization to be adjusted electrically, so that only the polarized light at the user's desired angle is transmitted, eliminating reflected highlights. The images obtained using this technique are optimized by computer software. Liquid crystal polarization panels, which can electrically control the polarization angle, transmittance, and polarization rate, have been applied to polarized image monitoring device to improve subject identification in conventional CCTV.