• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.824-827
• /
• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2019-2023
• /
• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• Proceedings of the KIEE Conference
• /
• 2001.11c
• /
• pp.119-122
• /
• 2001

This paper discusses the peg-in-hole task of chamferless parts using force/moment/vision sensors. The directional error occurring during the task are categorized into two cases according to the degree of initial errors, And different Mechanical analysis has been accomplished for each cases. This paper proposes an algorithm which enables to reduce intial directional error using digital Images acquired from hand-eyed vision sensor, And to continue the task even with the large directional error by adjusting the error using digital image processing. The effectiveness of the algorithm has been demonstrated through experimentation using 5-axis robot equipped with a developed controller force/moment sensor and color digital camera on its hand.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.5 no.4
• /
• pp.33-40
• /
• 1995

This paper delas with the detection of freehand forgeries of signatures based on the averaged directional amplitudes of gradient vetor which are related to the overall shape of the handwritten signature and fuzzy ARTMAP neural network classifier. In the first step, signature images are extracted from the background by a process involving noise reduction and automatic thresholding. Next, twelve directional amplitudes of gradient vector for each pixel on the signature line are measure and averaged through the entire signature image. With these twelve averaged directional gradient amplitudes, the fuzzy ARTMAP neural network is trained and tested for the detection of freehand forgeries of singatures. The experimental results show that the fuzzy ARTMAP neural network cna lcassify a signature whether genuine or forged with greater than 95% overall accuracy.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.30B no.2
• /
• pp.78-86
• /
• 1993

A nonlinear method for directional information processing is introduced, along with an application of directional feature enhancement. In this method, an input is convolved with a 2-D ong, norrow kernel, which is rotated through 360 degree, continuously or discretely in a large number of steps. An output is given by some function of the convolution results. Linear features that are aligned with the kernel are enhanced, otherwise, removed or suppressed. The method presented is insensitive to variation in the dimension of linear features to be processed and preserves a good enhancement capability even for an image characterized by low contrast and spatially varying brightness in noisy backgroung. Effects of the kernel legnth and width on the performance are discussed. A possible hybrid optical-electronic implementation is also discussed.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.4
• /
• pp.174-182
• /
• 2003

Recently, medical imaging has taken interest on CAD based solution for anatomical part fabrication or finite element analysis of human body. In principle, contours representing object boundary are obtained through image processing techniques. Surface models are then approximated by a skinning method. For this, various methods should be applied to medical images and contours. The major bottleneck of the reconstruction is to remove shape inconsistency between contours and to generate the branching surface. In order to solve these problems, bi-directional smoothing and the composite contour generation method are proposed. Bi-directional smoothing has advantage of removing the shape inconsistency between contours and minimizing shrinkage effect with a large number of iterations. The composite contour by the proposed method ensures smooth transition in branching region.

• Journal of Korea Game Society
• /
• v.6 no.2
• /
• pp.45-50
• /
• 2006

In order to generate a photo-realistic synthesized image, we should reconstruct light environment by 3D analysis of scene. This paper presents a novel method for identifying the positions and characteristics of the lights-the global and local lights-in the real image, which are used to illuminate the synthetic objects. First, we generate High Dynamic Range(HDR) radiance map from omni-directional images taken by a digital camera with a fisheye lens. Then, the positions of the camera and light sources in the scene are identified automatically from the correspondences between images without a priori camera calibration. Types of the light sources are classified according to whether they illuminate the whole scene, and then we reconstruct 3D illumination environment. Experimental results showed that the proposed method with distributed ray tracing makes it possible to achieve photo-realistic image synthesis. It is expected that animators and lighting experts for the film and animation industry would benefit highly from it.

• Korean Journal of Optics and Photonics
• /
• v.20 no.2
• /
• pp.87-93
• /
• 2009

Variation of the observer's viewing position is one of the major causes of image space distortion in the stereoscopic display. Especially, a large image distortion, which is caused by different depth direction positions of the observer's two eyes, is made by the observer's rotation movement in relation to the center of the screen. This is different from distortion of horizontal and depth directional movement of the observer. In this paper, we analyzed distortion of the image space due to the observer's rotation movement and showed the corrected result of distortion through simulation in the stereoscopic display. Finally, we showed that the distortion shape of the observer's rotation movement is different from horizontal and depth directional movement of the observer.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.13 no.2
• /
• pp.67-75
• /
• 2013

Korea has developed coastal farming industry due to the environmental characteristics that its three sides are surrounded by sea. The damage of coastal farming industry caused by Asterias Amurensis with very strong reproductive rate and predaciousness has increased sharply every year. Moreover, Asterias Amurensis preys on living fish and shellfish and so the damage of fishermen is vern greater. In this paper, a method is proposed to extract effectively the features from the image of Asterias Amurensis acquired in the water. Because the proposed method extracts convex features using 6-directional scanning, it selects a fewer number of feature candidates than the conventional one. In addition, after selecting candidate concave points using the extracted convex features and centers of region, the final concave features are extracted. Due to the features of the starfish which lives in groups, individuals of the starfish in the input image are concentrated. Thus, it is significant to minimize the number of feature candidates extracted from the input image. The experimental results indicate an improvement of the proposed feature extraction method over the conventional one as evidenced by the fact that the feature extract was 88 % of the feature candidates.

• Journal of the Korea Society of Computer and Information
• /
• v.13 no.6
• /
• pp.243-251
• /
• 2008

This study is to suggest the extraction algorithms of fingerprint corepoint and region separation using the labeling for gate security in order that it might be applied to the fingerprint recognition effectively. The gate security technology is entrance control, attendance management, computer security, electronic commerce authentication, information protection and so on. This study is to extract the directional image by dividing the original image in $128{\times}128$ size into the size of $4{\times}4$ pixel. This study is to separate the region of directional smoothing image extracted by each directional by using the labeling, and extract the block that appeared more than three sorts of change in different directions to the corepoint. This researcher is to increase the recognition rate and matching rate by extracting the corepoint through the separation of region by direction using the maximum direction and labeling, not search the zone of feasibility of corepoint or candidate region of corepoint used in the existing method. According to the result of experimenting with 300 fingerprints, the poincare index method is 94.05%, the proposed method is 97.11%.