• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.11a
• /
• pp.434-438
• /
• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• Quantitative Bio-Science
• /
• v.37 no.2
• /
• pp.81-89
• /
• 2018

It is commonplace that high false detection rates interfere with immediate vision-based fire monitoring system. To circumvent this challenge, we propose a fire detection algorithm that can accommodate color variations of RGB in temporal domain, aiming at reducing false detection rates. Despite interrupting images (e.g., background noise and sudden intervention), the proposed method is proved robust in capturing distinguishable features of fire in temporal domain. In numerical studies, we carried out extensive real data experiments related to fire detection using 24 video sequences, implicating that the propose algorithm is found outstanding as an effective decision rule for fire detection (e.g., false detection rate <10%).

• ETRI Journal
• /
• v.26 no.3
• /
• pp.195-202
• /
• 2004

In this paper, we propose a visual accessibility technique in an MPEG-21 framework. In particular, MPEG-21 visual accessibility for the colored-visual resource of a digital item is proposed to give better accessibility of color information to people with color vision deficiency (CVD). We propose an adaptation system for CVD as well as a description of CVD in MPEG-21. To verify the usefulness of the proposed method, computer simulations with CVD and color adaptation were performed. Furthermore, a statistical experiment was performed using volunteers with CVD in order to verify the effectiveness of the proposed visual accessibility technique in MPEG-21. Both the experimental and simulation results show that the proposed adaptations technique can provide better color information, particularly to people with CVD.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.507-510
• /
• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.767-771
• /
• 2003

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.5
• /
• pp.411-417
• /
• 2005

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the potion of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.2 no.3
• /
• pp.31-38
• /
• 2009

A process of identifying moving objects from data is typical task in many computer vision applications. In this paper, we propose a motion segmentation method that generally consists from background subtraction and foreground pixel segmentation. The Approximated Median Filter (AMF) was chosen to perform background modelling. To demonstrate the effectiveness of proposed approach, we tested it gray-scale video data as well as RGB color space.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2000.11c
• /
• pp.569-577
• /
• 2000

The position of tobacco leaves is affluence to the quality. To evaluate its quality, sample leaves was collected according to the position of attachment. In Korea, the position was divided into four classes such as high, middle, low and inside positioned leaves. Until now, the grade of standard sample was determined by human expert from korea ginseng and tobacco company. Many research were done by the chemical and spectrum analysis using NIR and computer vision. The grade of tobacco leaves mainly classified into 5 grades according to the attached position and its chemical composition. In high and low positioned leaves shows a low level grade under grade 3. Generally, inside and medium positioned leaf has a high level grade. This is the basic research to develop a real time tobacco leaves grading system combined with portable NIR spectrum analysis system. However, this research just deals with position recognition and grading using the color machine vision. The RGB color information was converted to HSI image format and the sample was all investigated using the bundle of tobacco leaves. Quality grade and position recognition was performed through well known general error back propagation neural network. Finally, the relationship about attached leaf position and its grade was analyzed.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.48 no.5
• /
• pp.37-44
• /
• 2011

This paper proposes a confusion-line separating algorithm in a CIE Lab color space using color segmentation for protanopia and deuteranopia. Images are segmented into regions by grouping adjacent pixels with similar color information using the hue components of the images. To this end, the region growing method and the seed points used in this method are the pixels that correspond to peak points in hue histograms that went through a low pass filter. In order to establish a color vision deficiency (CVD) confusion line map, we established 512 virtual boxes in an RGB 3-D space so that boxes existing on the same confusion line can be easily identified. After that, we checked if segmented regions existed on the same confusion line and then performed color adjustment in an CIE Lab color space so that all adjacent regions exist on different confusion lines in order to provide the best color identification effect to people with CVDs.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 1997.12a
• /
• pp.375-384
• /
• 1997

굴을 까는 작업은 굴의 껍질 에 붙어있는 근육질과 굴 껍질에 붙어있는 hinge를 절단하는 작업을 필요로 한다. 본 논문은 굴을 까는 자동화기계를 개발하기 위한 하나의 단계로서 굴의 hinge 의 위치를 판단하는 computer vision system 의 image processing software (영상처리)개발에 대하여 중점을 두었다. 본 실험에 사용한 굴들은 computer vision system이 굴의 바깥쪽 hinge 표면을 감지할 수 있도록 굴을 물로 씻은 후 굴 껍질의 hinge 부분을 약간 절단하였다. computer vision system은 color video camera를 이용하여 굴의 절단된 hinge표면의 영상을 잡은 후 image processing software를 이용하여 굴의 hinge 위치를 감지하였다. 본 논문에 사용한 computer vision software 는 일반 상용화된 software 와 굴의 hinge 위치를 알아내기 위해 저자가 연구 개발한 software 로 구성하였다. Image 내의 굴의 hinge와 그 밖의 다른 물질을 구별하기 위하여 본 논문의 software 는 4개의 변수 (circularity , Rectangularity, Aspect-ratio , Euclidian Distance)를 이용하였다. 또한 image 내의 굴의 hinge 위치를 쉽고 효과적으로 파악하기 위하여 몇 가지 영상처리, 즉, shrink-expand, thresholding 외의 다른 방법들을 이용하였다.