• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 춘계학술대회 논문요약집
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• pp.277-277
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• 2004

로봇의 실시간 장애물 회피 방법은 연구되어 왔고 실행되어 왔다. 이러한 방법을 vector field histogram(VFH)라 하며 이러한 방법은 알려져 있지 않는 장애물의 발견과 장애물과의 충돌을 피하는 동시에 목표점으로의 로봇의 이동을 위한 알고리즘이다. The vector field histogram(VFH)방법은 world model로 이차원 Cartesian histogram grid를 이용하였다. VFH 방법은 Vehicle을 원하는 데로 컨트롤하기 위한 과정으로 두 단계 데이터 줄이는 과정이다. Histogram grid 의 첫 번째 단계는 로봇의 순간위치를 구성하기 위한 일 차원 polar histogram에 포함된 각 섹터의 값은 polar obstacle density(POD)로 방향을 표시한다.(중략)

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.23-26
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• 2003

The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our four-legged robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1076-1079
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• 2003

The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our simulation program and tested..

• 한국기계가공학회지
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• 제13권1호
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• pp.30-38
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• 2014

The purpose of this study is to build and manage environment models with line segments from sonar range data on obstacles in unknown and varied environments. The proposed method therefore employs a two-stage data-transform process in order to extract environmental line segments from range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to form a two-dimensional local histogram grid. In the second stage, a line histogram extracted from a local histogram grid is based on a Hough transform, and matching serves as a means of comparing each of the segments on a global line segments map against the line segments to detect the degree of similarity in the overlap, orientation, and arrangement. Each of these tests is formulated by comparing one of the parameters in the segment representation. After the tests, new line segments can be found at maximum-density cells in the line histogram, and they are composed onto the global line segment map. The proposed technique is demonstrated in experiments in an indoor environment.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.721-725
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• 2004

Multiple-count problem is occurred when rectangle objects span across several buckets. The Cumulative Density (CD) histogram is a technique which solves multiple-count problem by keeping four sub-histograms corresponding to the four points of rectangle. Although it provides exact results with constant response time, there is still a considerable issue. Since it is based on a query window which aligns with a given grid, a number of errors may be occurred when it is applied to real applications. In this paper, we proposed selectivity estimation techniques using the generalized cumulative density histogram based on two probabilistic models: (1) probabilistic model which considers the query window area ratio, (2) probabilistic model which considers intersection area between a given grid and objects. In order to evaluate the proposed methods, we experimented with real dataset and experimental results showed that the proposed technique was superior to the existing selectivity estimation techniques. The proposed techniques can be used to accurately quantify the selectivity of the spatial range query on rectangle objects.

• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.783-789
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• 2001

본 논문에서는 미지의 환경에서 이동로봇이 주행 중 얻어진 격자 지도(grid map)상의 장애물 정보를 이용하여 직선 성분으로 이동로봇 주변환경을 표현한다. 격자 지도의 장애물 정보는 초음파 센서를 이용하여 얻어지므로 이동로봇과 인접한 장애물 정보만을 얻게 된다 얻어진 격자 정보를 호프변환을 이용하여 직선선분을 구축하고 완성해 간다. 논의된 방법은 실험을 통하여 증명하였다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.85-88
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• 2009

In this paper, we propose a DRF-based object detection method using the object adaptive patch in the satellite imagery. It is a Discriminative Random Fields (DRF) based work, so the detection is done by labeling to the possible patches in the image. For the feature information of each patch, we use the multi-scale and object adaptive patch and its texton histogram, instead of using the single scale and fixed grid patch. So, we can include contextual layout of texture information around the object. To make object adaptive patch, we use "superpixel lattice" scheme. As a result, each group of labeled patches represents the object or object's presence region. In the experiment, we compare the detection result with a fixed grid scheme and shows our result is more close to the object shape.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1127-1130
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• 2003

This paper introduces histogramic in-motion mapping for real-time map building with the Eyebot in motion. A histogram grid used in HIMM is updated through three PSD sensors. HIMM makes it possible to make fast map-building and avoid obstacles in real-time. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance algorithms. HIMM has been tested on the Eyebot. The Eyebot sends PSD data to computer and computer builds a 3D-Map based on PSD data.

• 대한방사선기술학회지:방사선기술과학
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• 제43권4호
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• pp.265-272
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• 2020

The purpose of this study was to investigate the dose-volume indices and radiobiological indices according to the change in dose calculation grid size during the planning of nasopharyngeal cancer VMAT treatment. After performing the VMAT treatment plan using the 3.0 mm dose calculation grid size, dose calculation from 1.0 mm to 5.0 mm was performed repeatedly to obtain a dose volume histogram. The dose volume index and radiobiological index were evaluated using the obtained dose volume histogram. The smaller the dose calculation grid size, the smaller the mean dose for CTV and the larger the mean dose for PTV. For OAR of spinal cord, brain stem, lens and parotid gland, the mean dose did not show a significant difference according to the change in dose calculation grid size. The smaller the grid size, the higher the conformity of the dose distribution as the CI of the PTV increases. The CI and HI showed the best results at 3.0 mm. The smaller the dose calculation grid size, the higher the TCP of the PTV. The smaller the dose calculation grid size, the lower the NTCP of lens and parotid. As a result, when performing the nasopharynx cancer VMAT plan, it was found that the dose calculation grid size should be determined in consideration of dose volume index, radiobiological index, and dose calculation time. According to the results of various experiments, it was determined that it is desirable to apply a grid size of 2.0 - 3.0 mm.

• 대한디지털의료영상학회논문지
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• 제9권1호
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• pp.7-15
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• 2007

고정식 초점형 격자가 적용된 비정질 실리콘 평판형 검출기에서 초점-격자간 중심변위와 두부 팬텀의 검출기내 위치 변위가 영상 특성에 미치는 영향을 조사하여, 디지털 의료영상 장비의 올바른 사용 방법을 제안하고자 한다. 고정식 초점형 격자를 적용한 비정질 실리콘 평판형 검출기에서 두부 팬텀을 사용하여 초점-격자간 중심 변위와 두부 팬텀의 위치 변위에 따라 영상을 획득 하였다. 획득된 영상을 NIH(Image J) 영상 분석 프로그램을 이용하여 동일 영역에서의 픽셀값(Pixel value), 히스토그램(Histogram), 도면형상(plot profile), 표면도(Surface plot)등을 분석하고, 표준 촬영 영상과 비교 하였다. 초점-격자간 측 방향 중심 변위와 초점-격자와 두부 팬텀의 이중 변위는 수평, 대각선으로 증가할수록 픽셀의 평균값과 표준편차값이 비례적으로 감소하였다. 또한 높은 픽셀값의 빈도수가 상당히 감소하여 영상의 대조도를 저하시켰고, 변위가 증가할수록 영상 왜곡현상도 증가하였다. 다음으로 두부 팬텀 위치 변위의 픽셀 평균값은 큰 변화가 없었으나 수평, 대각선으로 증가할수록 높은 픽셀값의 빈도수가 감소하는 양상을 보여 영상의 대조도가 저하 되었다. 디지털 검출기의 넓은 관용도와 후처리 능력은 영상의 화소 잡음이 증가하여도 방사선사들이 인지하지 못할 수 있다. 따라서 방사선사는 격자가 장착된 디지털 검출기에서 화소 잡음을 증가시키는 촬영 요인들을 정확히 인지하여 검사에 임해야 할 것이다.