• 한국지능시스템학회논문지
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• 제5권2호
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• pp.70-78
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• 1995

입출력 데이터를 이용한 퍼지모델의 설정은 구조 설정과 변수 설정으로 나누어진다. 본 논문에서는 기존 방법의 문제점을 해결하고 퍼지모델의 이러한 구조와 변수를 설정하는 새로운 방법을 제안한다. 입출력 데이터가 주어지면, 후건부 변수는 선형성과연속성을 고려하여 휴(Hough) 변환과클러스터링 방법에 의해 각각 설정된다. 또한 경사 하강법(Gradient descent method)을 사용하여 퍼지모델 변수의 미세조정을 행한다. 마지막으로 단일 입출력 시스템에 대하여 시뮬레이션을 통해 제안된 방법의 유효성을 보인다.

• 한국정밀공학회지
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• 제22권12호
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• pp.61-69
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• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.908-911
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• 2004

In this paper, we describe a robust image processing algorithm to recognize the road lane in real-time. For the real-time processing, a detection area is decided by a lane segment of a previous frame and edges are detected on the basis of the lane width. For the robust driving, the global threshold with the Otsu algorithm is used to get a binary image in a frame. Therefore, reliable edges are obtained from the algorithms suggested in this paper in a short time. Lastly, the lane segment is found by hough transform. We made a RC(Radio Control) car equipped with a vision system and verified these algorithms using the RC Car.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1496-1499
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• 2004

The paper persents an efficient method of extracting line segment in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the simplified Bayesian updating model. The probabilities and orientations of cells in the grid map are continuously updated while the robot explorers to their values. The line segments are, then, extracted from the clusters using Hough transform methods. The eng points of a line segment are evaluated from the cells in each cluster, which is simple and efficient comparing to existing methods. The proposed methods are illustrated by sets of experiments in an indoor environment.

• 한국통신학회논문지
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• 제24권8B호
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• pp.1500-1505
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• 1999

본 논문은 3물체 인식을 위한 깊이정보의 추출을 위해 스테레오 기법의 적용과 기존의 방법론에서 정합횟수에 대한 문제점을 보완하기 위한 물체의 진행 방향 벡터를 이용하는 방법론을 제안한다. 즉, 물체의 진행 방향을 이용하여 진행방향 벡터를 구하고 이를 축으로 회전 이동된 물체를 정합 시킨다. 그리고 Hough변환을 이용하여 얻은 회전 이동에 대응하는 2차원 합성영상을 참조영상으로 설정하고 입력영상과 정합 과정을 수행하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제30권8호
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• pp.919-926
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• 2006

To move in unknown or uncertain environment, a mobile robot must collect informations from various sensors and use it to construct a representation of the external world. Ultrasonic sensor can provide range data for this purpose in a simple cost-effective way. However conventional ultrasonic sensor system for a mobile robot are not sufficient for environment recognition because of their large beam opening angle, specular reflection. This paper describe on environmental perception algorithm which can solve these problems in case using ultrasonic sensor. The algorithm consist of two parts. One is to solve beam opening angle problem by fusion from multiple ultrasonic sensors. The other is to cope with specular reflection problem in wall line extract, which is based on Hough Transform. Experiments to verify the validity of the proposed algorithm are carried out, and the results are provided at last part in this paper.

• 한국컴퓨터정보학회논문지
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• 제11권1호
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• pp.19-25
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• 2006

홍채인식은 개인의 홍채 패턴을 이용한 인식시스템으로 정보보안 분야나 개인 인증에 최고의 인증시스템중 하나로 알려져 있다. 홍채 인식을 위해 가장 먼저 해결해야하는 문제는 동공중심점탐색 이 매우 중요하다. 지금까지 많은 탐색 알고리즘들이 개발되었으나 대부분 처리시간이 매우 많이 소요된다. 본 논문에서는 새로운 동공 중심점 탐색 방법을 제시하고, Hough 변환을 이용한 방법과 비교하였다. 그 결과 120개의 이미지를 대상으로 실험한 결과 약 30%의 처리 속도 개선의 결과를 얻었다.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.419-428
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• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• 한국자동차공학회논문집
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• 제11권5호
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• pp.176-182
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• 2003

The researches for autonomous vehicle have been implemented in many studies, but most studies were confined to the lane fol1owing and changing. This paper addresses a problem of autonomous lane following parking a nonholonomic vehicle. The algorithm for image processing by the hough transform and controlling a steering angle and speed to park a nonholonomic vehicle is developed. The developed system which integrated the control algorithm for parking and vision algorithm for line traction tested with RC car and verified by the performance of the detection of parking area and the reactive parking without collisions.

• 한국전자통신학회논문지
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• 제5권3호
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• pp.245-250
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• 2010

본 논문에서는 열영상 기반의 전력선 검출기법이 제안되었다. 전력선 검출 기법은 무인 항공기의 자율 운행을 위해 필요한 기술이다. 하프변환된 데이터를 바탕으로 각도별 분할 기법을 개발하였으며, 이를 바탕으로 그룹핑을 행하고, 마지막으로 전력선을 검출하는 기법을 개발하였다. 제시된 알고리듬에 대한 실험결과에서 다양한 직선성분이 존재하는 영상에서 전력선을 효과적으로 검출할 수 있음을 확인할 수 있었다.