• Journal of the Korea Society of Computer and Information
• /
• v.24 no.11
• /
• pp.29-39
• /
• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• Korean Journal of Optics and Photonics
• /
• v.14 no.3
• /
• pp.236-243
• /
• 2003

We discussed the design of lens module schematic eyes equivalent to finite model eyes, which are used to model the human eye based on spherical aberration and Stiles-Crowford effect. The optical system for head mounted display (HMD) is designed and evaluated using lens module schematic eyes. In addition to a compact HMD system, an optical system with high Performance is required. To satisfy these requirements, we used diffractive optical elements and aspheric surfaces so that the color and mono-chromatic aberrations were corrected. The optical system for HMD is composed of 0.47 inch micro-display of SVGA grade with 480,000 pixels, a plastic hybrid lens for the virtual image, and the lens module schematic eyes. The designed optical system fulfills the current specifications of HMD: such as, EFL of 31.25 mm, FOV of 24H$\times$18V$\times$30D degrees, and overall length of 59.1 mm. As a result, we could design an optical system useful for HMD; the system is expected to be comfortable while the user wears it.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.22 no.5
• /
• pp.251-256
• /
• 2021

Unlike general cameras, a high-speed camera capable of capturing a large number of frames per second can enable the advancement of some image processing technologies that have been limited so far. This paper proposes a method of removing undesirable noise from an high-speed input color image, and then detecting a human face from the noise-free image. In this paper, noise pixels included in the ultrafast input image are first removed by applying a bidirectional filter. Then, using RetinaFace, a region representing the person's personal information is robustly detected from the image where noise was removed. The experimental results show that the described algorithm removes noise from the input image and then robustly detects a human face using the generated model. The model-based face-detection method presented in this paper is expected to be used as basic technology for many practical application fields related to image processing and pattern recognition, such as indoor and outdoor building monitoring, door opening and closing management, and mobile biometric authentication.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.13 no.6
• /
• pp.1353-1364
• /
• 2018

This study proposed a method to detect Cochlodinium polykrikoides red tide pixels in satellite images using a logistic regression model of machine learning technique under Imbalanced data. The spectral profiles extracted from red tide, clear water, and turbid water were used as training dataset. 70% of the entire data set was extracted and used for as model training, and the classification accuracy of the model was evaluated using the remaining 30%. At this time, the white noise was added to the spectral profile of the red tide, which has a relatively small number of data compared to the clear water and the turbid water, and over-sampling was performed to solve the unbalanced data problem. As a result of the accuracy evaluation, the proposed algorithm showed about 94% classification accuracy.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.25 no.5
• /
• pp.637-644
• /
• 2021

In general, in the fields of computer vision, robotics, and augmented reality, the importance of 3D space and 3D object detection and recognition technology has emerged. In particular, since it is possible to acquire RGB images and depth images in real time through an image sensor using Microsoft Kinect method, many changes have been made to object detection, tracking and recognition studies. In this paper, we propose a method to improve the quality of 3D reconstructed images by processing images acquired through a depth-based (RGB-Depth) camera on a multi-view camera system. In this paper, a method of removing noise outside an object by applying a mask acquired from a color image and a method of applying a combined filtering operation to obtain the difference in depth information between pixels inside the object is proposed. Through each experiment result, it was confirmed that the proposed method can effectively remove noise and improve the quality of 3D reconstructed image.

• The Journal of Engineering Geology
• /
• v.32 no.3
• /
• pp.363-376
• /
• 2022

An area under construction for a living facility collapsed around 12:48 KST on 13 January 2021 in Sa-dong, Ansan-si, Gyeonggi-do. There were no casualties due to the rapid evacuation measure, but part of the temporary retaining facility collapsed, and several cracks occurred in the adjacent road on the south side. This study used the potential of synthetic aperture radar (SAR) satellite for surface property changes that lies in backscattering characteristic to map the collapsed structure. The interferometric SAR technique can make a direct measurement of the decorrelation among different acquisition dates by integrating both amplitude and phase information. The damage proxy map (DPM) technique has been employed using four high-resolution Constellation of Small Satellites for Mediterranean basin Observation (COSMO-SkyMed) data spanning from 2020 to 2021 during ascending observation to analyze the collapse of the construction. DPM relies on the difference of pre- and co-event interferometric coherences to depict anomalous changes that indicate collapsed structure in the study area. The DPMs were displayed in a color scale that indicates an increasingly more significant ground surface change in the area covered by the pixels, depicting the collapsed structure. Therefore, the DPM technique with SAR data can be used for damage assessment with accurate and comprehensive detection after an event. In addition, we classify the amplitude information using support vector machine (SVM) and maximum likelihood classification algorithms. An investigation committee was formed to determine the cause of the collapse of the retaining wall and to suggest technical and institutional measures and alternatives to prevent similar incidents from reoccurring. The report from the committee revealed that the incident was caused by a combination of factors that were not carried out properly.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.20 no.11
• /
• pp.86-91
• /
• 2021

Recently, functional clothes that can reduce deposition and/or penetration of fine dust have been developed. However, there are no methods to quantitatively evaluate the performance of these clothes. In this study, we developed a method to contaminate a fabric using fine dust and established an approach to quantitatively assess the degree of particle contamination on the fabric surface. Silicate powder was chosen as the particle to simulate fine dust because silicate particles are fluorescent under UV light; therefore, they can be distinguished from any color of non-fluorescent fabric surface. A camera with a high-resolution lens system was used to scan the surface of the contaminated fabric surface, and the degree of particle contamination of the fabric surface was analyzed in terms of the pixels corresponding to the area of the fabric surface contaminated by silicate particles. Finished or unfinished nylon fabrics as well as cotton fabrics were contaminated with silicate particles, and their surfaces were scanned using the established camera. The proposed assessment method was found to be useful for quantitatively comparing the degree of particle contamination of the fabrics.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.29 no.1D
• /
• pp.153-160
• /
• 2009

In relation to digital elevation model(DEM) production using high resolution satellite imagery, existing studies present that DEM accuracy differently show according to land cover property. This study therefore proposes auto-selection method of window size for correlation matching according to land cover property of IKONOS Geo-level stereo image. For this, land cover classified image is obtained by IKONOS color image with four bands. In addition, correlation-coefficients are computed at regular intervals in pixels of the window-search area to shorten of matching time. As the results, DEM by the proposed method showed more accurate than DEM using the fixed window-size matching. We estimate that accuracy of the proposed DEM improved more than DEM by digital map and ERDAS in agricultural land.

• KIPS Transactions on Software and Data Engineering
• /
• v.11 no.1
• /
• pp.41-50
• /
• 2022

In this paper, a method to directly calculate the major elements of skin color such as melanin and hemoglobin from the RGB signal of the camera is proposed. The main elements of skin color typically measure spectral reflectance using specific equipment, and reconfigure the values at some wavelengths of the measured light. The values calculated by this method include such things as melanin index and erythema index, and require special equipment such as a spectral reflectance measuring device or a multi-spectral camera. It is difficult to find a direct calculation method for such component elements from a general digital camera, and a method of indirectly calculating the concentration of melanin and hemoglobin using independent component analysis has been proposed. This method targets a region of a certain RGB image, extracts characteristic vectors of melanin and hemoglobin, and calculates the concentration in a manner similar to that of Principal Component Analysis. The disadvantage of this method is that it is difficult to directly calculate the pixel unit because a group of pixels in a certain area is used as an input, and since the extracted feature vector is implemented by an optimization method, it tends to be calculated with a different value each time it is executed. The final calculation is determined in the form of an image representing the components of melanin and hemoglobin by converting it back to the RGB coordinate system without using the feature vector itself. In order to improve the disadvantages of this method, the proposed method is to calculate the component values of melanin and hemoglobin in a feature space rather than an RGB coordinate system using a feature vector, and calculate the spectral reflectance corresponding to the skin color using a general digital camera. Methods and methods of calculating detailed components constituting skin pigments such as melanin, oxidized hemoglobin, deoxidized hemoglobin, and carotenoid using spectral reflectance. The proposed method does not require special equipment such as a spectral reflectance measuring device or a multi-spectral camera, and unlike the existing method, direct calculation of the pixel unit is possible, and the same characteristics can be obtained even in repeated execution. The standard diviation of density for melanin and hemoglobin of proposed method was 15% compared to conventional and therefore gives 6 times stable.

• Korean Journal of Remote Sensing
• /
• v.29 no.1
• /
• pp.123-135
• /
• 2013

The reflectance observed in the visible channels of a geostationary meteorological satellite can be used to calculate the amount of cloud by comparing the reflectance with the observed solar radiation data at the ground. Using this, the solar radiation arriving at the surface can be estimated. This study used the Meteorological Imager (MI) reflectance observed at a wavelength of 675 nm and the Geostationary Ocean Color Imager (GOCI) reflectance observed at similar wavelengths of 660 and 680 nm. Cloudy days during a typhoon and sunny days with little cloud cover were compared using observation data from the geostationary satellite. Pixels that had more than 40% reflectance in the satellite images showed less than 0.3 of the cloud index and blocked more than 70% of the solar energy. Pixels that showed less than 15% reflectance showed more than 0.9 of the cloud index and let through more than 90% of the solar energy to the surface. The calculated daily accumulated solar radiation was compared with the observed daily accumulated solar radiation in 22 observatories of the Korean Meteorological Administration. The values calculated for the COMS and MTSAT MI sensors were smaller than the observation and showed low correlations of 0.94 and 0.93, respectively, which were smaller than the 0.96 correlation coefficient calculated for the GOCI sensor. The RMSEs of MTSAT, COMS MI and GOCI calculation results showed 2.21, 2.09, 2.02 MJ/$m^2$ in order. Comparison of the calculated daily accumulated results from the GOCI sensor with the observed data on the ground gave correlations and RMSEs for cloudy and sunny days of 0.96 and 0.86, and 1.82 MJ/$m^2$ and 2.27 MJ/$m^2$, respectively, indicating a slightly higher correlation for cloudy days. Compared to the meteorological imager, the geostationary ocean color imager in the COMS satellite has limited observation time and observation is not continuous. However, it has the advantage of providing high resolution so that it too can be useful for solar energy analysis.