• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.156-160
• /
• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• Archives of design research
• /
• v.15 no.3
• /
• pp.167-180
• /
• 2002

This study investigates effective ways to help users form a correct mental model of the hierarchical information space (HIS) in small display. The focus is the effect of color cue on understanding the structure and navigating the information space. The concept of color space (CS) corresponds well to the HIS - one color has a unique position in the CS as a piece of information does in HIS. In this study, we empirically examined two types of color cue, namely, categorical and depth cue. Hue was used as a categorical cue and tone was used as a depth cue. In our experiment, we evaluate the effectiveness of the color cues in the mobile internet system. Subjects were asked to perform four searching tasks and four comparison tasks. The results of experiment reveal that the categorical cues significantly improve the user's mental model whereas decrease navigation performances. The depth cues cannot aid in understanding the HIS as well as improve navigation performances. This study concludes with limitations of the study and descriptions of future studies.

• Journal of the Korea Society of Computer and Information
• /
• v.12 no.4
• /
• pp.53-59
• /
• 2007

A navigation system for virtual environments using low-qualify HMD(head mounted display) must quantize images when the system presents true-color image with restricted number of colors. Such navigation system quantizes an image by using fixed palette. If the system represents an image by using a variable palette which is made considering a region around the viewpoint then user can perceive a virtual environments more vividly because human visual system is sensitive to the colors variation in the region around the viewpoint. In this paper we propose a color quantization algorithm that quantize a region around the viewpoint more finely than other regions at each variation of viewpoint for virtual environments navigation system and compose virtual environments navigation system using proposed algorithm. The system quantizes an image at each variation of viewpoint and shows a quantized image to user through HMD. We tested user preferences for our proposed system and the results show that users preferred our system.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.23 no.60
• /
• pp.47-55
• /
• 2000

Two experiments were conducted to examine the relationships between the color structure and the user preference of a CNS (Car Navigation System) digital map in terms of HSE (Human Sensibility Ergonomics). In the first experiment, the user's preference of color structures were investigated from the subjects' self-designed digital maps using a CNS digital map UIMS (User Interface Management System): in the second, statistical relation models between the user's color structure satisfaction level and the color components of CIE (Commission Internationale de ι'Eclairage) of the real products were suggested. For each experiment, CIE L*u*v* and CIE LCH color space were adapted, respectively, because they have their own characteristics of perceptual uniformity which enables the color components to transform a linear function.

• Journal of the Korea Society of Computer and Information
• /
• v.13 no.1
• /
• pp.169-173
• /
• 2008

A navigation system for virtual environments using low-quality HMD(head mounted display) must quantize images when the system presents true-color image with restricted number of colors. Such navigation system quantizes an image by using fixed palette. If the system represents an image by using a variable palette which is made considering a region around the viewpoint then user can perceive a virtual environments more vividly because human visual system is sensitive to the colors variation in the region around the viewpoint. In this paper we propose a color quantization algorithm that quantize a region around the viewpoint more finely than other regions at each variation of viewpoint for virtual environments navigation system.

• 한국HCI학회:학술대회논문집
• /
• 2008.02a
• /
• pp.772-774
• /
• 2008

A navigation system for virtual environments using low-quality HMD(head mounted display)must quantize images when the system presents true-color image with restricted number of colors. Such navigation system quantizes an image by using fixed palette. If the system represents an image by using a variable palette which is made considering a region around the viewpoint then user can perceive a virtual environments more vividly because human visual system is sensitive to the colors variation in the region around the viewpoint. In this paper we propose a color quantization algorithm that quantize a region around the viewpoint more finely than other regions at each variation of viewpoint for virtual environments navigation system and compose virtual environments navigation system using proposed algorithm. The system quantizes an image at each variation of viewpoint and shows a quantized image to user through HMD. We tested user preferences for our proposed system and the results show that users preferred our system.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.9 no.5
• /
• pp.269-276
• /
• 2014

In recent, autonomous navigation techniques to avoid obstacles have been studied by using unmanned aircraft vehicles(UAVs) since the increment of UAV's interest and utilization. Particularly, autonomous navigation based UAVs are utilized in several areas such as military, police, media, and so on. However, there are still some problems to avoid obstacle when UVAs perform autonomous navigation. For instance, the UAV can not forward in the corner of corridors even though it utilizes the improved vanish point algorithm that makes an autonomous navigation system. Therefore, in this paper, we propose an obstacle avoidance technique based on immune algorithm for autonomous navigation of Quadrotor. The proposed algorithm is consisted of two steps such as 1) single color discrimination and 2) multiple color discrimination. According to the result of experiments, we can solve the previous problem of the improved vanish point algorithm and improve the performance of autonomous navigation of Quadrotor.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.4
• /
• pp.445-450
• /
• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed "cell-coded map", with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.36.4-36
• /
• 2001

A robust and reliable path recognition system is one necessary component for the autonomous navigation of a mobile robot to help determining its current position in its navigation map. This paper describes a computer visual path-recognition system using on-board video camera as vision-based driving assistance for an autonomous navigation mobile robot. The common problem for a visual system is that its reliability was often influenced by different lighting conditions. Here, two different image processing methods for the path detection were developed to reduce the effect of the luminance: one is based on the RGB color model and features of the path, another is based on the HSV color model in the absence of luminance.

• Journal of Korea Multimedia Society
• /
• v.15 no.11
• /
• pp.1319-1329
• /
• 2012

AGVs are more and more utilized nowadays and magnetic guided AGVs are most widely used because their system has low cost and high speed. But this type of AGVs requires high infrastructure building cost and has poor flexibility of navigation path layout changing. Thus it is hard to applying this type of AGVs to a small quantity batch production system or a cooperative production system with many AGVs. In this paper, we propose a vision based guideline interpretation technique that uses the cheap, easily installable and changeable color tapes (or paint) as a guideline. So a vision-based AGV with color tapes is effectively applicable to the production systems. For easy setting and changing of AGV navigation path, we suggest an automatic method for interpreting a complex guideline layout including multi-branches and joins of branches. We also suggest a trace direction decision method for stable navigation of AGVs. Through several real-time navigation tests with an industrial AGV installed with the suggested technique, we confirmed that the technique is practically and stably applicable to real industrial field.