• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.207-217
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• Journal of the Korea Society for Simulation
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• v.24 no.4
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• pp.43-49
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• 2015

Maximum lock-on distance in tactical guidance missile using seeker image is estimated by seeker's FOV, resolution and performance of tracking algorithm. In case, a missile is launched beyond the maximum lock-on distance, the missile is guided by INS pure navigation until it enters the lock-on possible zone. However, the probability of a target's existence within seekers images decreases as flight time goes by. Therefore, it is crucial to determine the distance that satisfies a certain target existence probability (TEP) and the maximum lock-on distance in order for an operator to take over the navigation role between two distances. In this paper, simulation which can analyse TEP in tactical guided missile seeker image is designed.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.587-589
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• 1995

The safe navigation of a mobile robot requires the recognition of the environment in terms of vision processing. To be guided in the given path, the robot should acquire the information about where the wall and corridor are located. Also unexpected obstacles should be detected as rapid as possible for the safe obstacle avoidance. In the paper, we assume that the mobile robot should be navigated in the flat surface. In terms of this assumption we simplify the correspondence problem by the free navigation surface and matching features in that coordinate system. Basically, the vision processing system adopts line segment of edge as the feature. The extracted line segments of edge out of both image are matched in the free nevigation surface. According to the matching result, each line segment is labeled by the attributes regarding obstacle and free surface and the 3D shape of obstacle is interpreted. This proposed vision processing method is verified in terms of various simulations and experimentation using real images.

• Journal of Korean Port Research
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• v.14 no.3
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• pp.303-312
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.226-229
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• 1989

This paper presents a navigation control method for a vision guided robot. The robot is equipped with one camera, an IBM/AT compatible PC, and a sonar system. The robot can either follow track specified on a monitor screen or navigate to a destination avoiding any obstacles on its way. The robot finds its current position as well as its moving direction by taking an image of a circular pattern placed on the ceiling.

• Journal of the Korea Society of Computer and Information
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• v.8 no.1
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• pp.13-19
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• 2003

There are active researches on automated guided vehicles(AGV) generally used in flexible manufacturing system(FMS) or automated warehouse systems(AWS). Because existing AGV uses magnetic tapes, electric wire, RF or laser as guidelines, its installation and modification require a lot of money and time. The present study implemented AGV that detects paths marked with 50mm Yellow tape using a mono-color CCD camera. Because it uses color tape, it is easy and inexpensive to install and change lines. This study presented the structure of the developed AGV, the image Processing technique for detecting guidelines by ing the characteristics of color, and the result of operating AGV.

• Archives of Craniofacial Surgery
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• v.21 no.1
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• pp.64-68
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• 2020

The coexistence of craniofacial cleft and bilateral choanal atresia has only been reported in three cases in the literature, and only one of those cases involved a Tessier number 3 facial cleft. It is also rare for bilateral choanal atresia to be found in adulthood, with 10 previous cases reported in the literature. This report presents the case of a 19-year-old woman with a Tessier number 3 facial cleft who was diagnosed with bilateral choanal atresia in adulthood. At first, the diagnosis of bilateral choanal atresia was missed and septoplasty was performed. After septoplasty, the patient's symptoms did not improve, and an endoscopic examination revealed previously unnoticed bilateral choanal atresia. Computed tomography showed left membranous atresia and right bony atresia. The patient underwent an operation for opening and widening of the left choana with an image-guided navigation system (IGNS), which enabled accurate localization of the lesion while ensuring patient safety. Postoperatively, the patient became able to engage in nasal breathing and reported that it was easier for her to breathe, and there were no signs of restenosis at a 26-month follow-up. The patient was successfully treated with an IGNS.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.238-246
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• 2013

In this paper, a robot vision technique is presented to detect obstacles, particularly approaching humans, in the images acquired by a mobile robot that autonomously navigates in a narrow building corridor. A single low-cost color camera is attached to the robot, and a trapezoidal area is set as a region of interest (ROI) in front of the robot in the camera image. The lower parts of a human such as feet and legs are first detected in the ROI from their appearances in real time as the distance between the robot and the human becomes smaller. Then, the human detection is confirmed by detecting his/her face within a small search region specified above the part detected in the trapezoidal ROI. To increase the credibility of detection, a final decision about human detection is made when a face is detected in two consecutive image frames. We tested the proposed method using images of various people in corridor scenes, and could get promising results. This method can be used for a vision-guided mobile robot to make a detour for avoiding collision with a human during its indoor navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.579-584
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• 2016

When surgical instruments are tracked in an image-guided surgical navigation system, a stereo vision system with high accuracy is generally used, which is called optical tracker. However, this optical tracker has the disadvantage that a line-of-sight between the tracker and surgical instrument must be maintained. Therefore, to complement the disadvantage of optical tracking systems, an internal vision sensor is attached to a surgical instrument in this paper. Monitoring the target marker pattern attached on patient with this vision sensor, this surgical instrument is possible to be tracked even when the line-of-sight of the optical tracker is occluded. To verify the system's effectiveness, a series of basic experiments is carried out. Lastly, an integration experiment is conducted. The experimental results show that rotational error is bounded to max $1.32^{\circ}$ and mean $0.35^{\circ}$, and translation error is in max 1.72mm and mean 0.58mm. Finally, it is confirmed that the proposed tool tracking method using an internal vision sensor is useful and effective to overcome the occlusion problem of the optical tracker.

• International Journal of Control, Automation, and Systems
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• v.4 no.1
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• pp.30-41
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• 2006

The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Some experiments employing the developed robotic surgery system are conducted. The experimental results confirm that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to respiration.