• 한국콘텐츠학회:학술대회논문집
• /
• 한국콘텐츠학회 2004년도 춘계 종합학술대회 논문집
• /
• pp.377-384
• /
• 2004

필드 기반 영상 모핑은 제어선을 지정하는 과정의 대부분을 사용자의 수작업에 의존하기 때문에 작업 시간이 많이 소요될 뿐만 아니라 양질의 결과를 얻기 위해서는 숙련을 요하는 불편함이 있다. 본 논문은 소스 영상과 목표 영상에서 모핑 대상체 쌍의 형상 정보를 획득한 상태에서 사용자가 수동으로 최소한의 특징점 쌍만을 지정하면 이렇게 지정된 특징점 쌍을 기준 삼아 다각형 기반 정점 탐색에 의해 소스 영상파 목표 영상에 상호 대응되는 제어선들을 자동적으로 설정한 후, 제어선 길이의 비율과 제어선으로부터의 이격 거리를 이용하여 영상 모핑을 수행함으로써 영상 모핑의 반자동화를 실현할 수 있는 방법을 제안한다. 제안된 방법에 따르면, 사용자가 제어선을 설정하는 시간을 단축할 수 있고 비숙련자도 최소의 제어선만을 지정하여 자연스러운 로핑 결과를 획득할 수 있는 이점이 있다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
• /
• pp.200-202
• /
• 2004

This paper deals with the real-time monitoring and control system using PC, PDA(Win CE embedded device) and PCS(based BREW platform). The camera attached to the server captures the moving target, and the captured frame of color image is encoded in JPEG for image compression at the server. The client(PC, PDA, PCS) receives the image data from the remote server and the received image is decoded from decompression. We use the TCP/IP protocol to send the image frames. The client can control the position of the camera by sending the control command to the server. Two DC servo motors for the camera are controlled in any directions, up-down and left-right, by the controller which is communicating with the server via the serial communication to get the control command. In this way, on the client we can monitor the moving images at the server and also control the position of the camera.

• 제어로봇시스템학회논문지
• /
• 제14권5호
• /
• pp.473-482
• /
• 2008

In this paper we propose an expert system for content-based image retrieval with object database. The proposed system finds keyword by using knowledge-base and feature of extracted object, and retrieves image by using keyword based image retrieval method. The system can decrease error of image retrieval and save running time. The system also checks whether similar objects exist or not. If not, user can store information of object in object database. Proposed system is flexible and extensible, enabling experts to incrementally add more knowledge and information. Experimental results show that the proposed system is more effective than existing content-based image retrieval method in running time and precision.

• Transactions on Control, Automation and Systems Engineering
• /
• 제2권1호
• /
• pp.47-55
• /
• 2000

In this paper, a vision-based roadway detection algorithm for an automated vehicle control system, based on roadway sign information on roads, is proposed. First, in order to detect roadway signs, the color scene image is enhanced under hue-invariance. Fuzzy logic is employed to simplify the enhanced color image into a binary image and the binary image is morphologically filtered. Then, an effective algorithm of locating signs based on binary rank order transform (BROT) is utilized to extract signs from the image. This algorithm performs better than those previously presented. Finally, the inner shapes of roadway signs with curving roadway direction information are recognized by neural networks. Experimental results show that the new detection algorithm is simple and robust, and performs well on real sign detection. The results also show that the neural networks used can exactly recognize the inner shapes of signs even for very noisy shapes.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.555-555
• /
• 2000

This study is concentrated on the development of hight speed multi-object image processing algorithm, and based on these a1gorithm, vision control scheme is developed for the robot's position control in real time. Recently, the use of vision system is rapidly increasing in robot's position centre. To apply vision system in robot's position control, it is necessary to transform the physical coordinate of object into the image information acquired by CCD camera, which is called image processing. Thus, to control the robot's point position in real time, we have to know the center point of object in image plane. Particularly, in case of rigid body, the center points of multi-object must be calculated in a image plane at the same time. To solve these problems, the algorithm of multi-object for rigid body control is developed.

• 동력기계공학회지
• /
• 제11권4호
• /
• pp.103-108
• /
• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• 한국가시화정보학회:학술대회논문집
• /
• 한국가시화정보학회 2003년도 추계학술대회 논문집
• /
• pp.63-66
• /
• 2003

A new algorithm, CBIR (Correlation Based Image Registration) was proposed to improve the resolution of image registration for PSP (Pressure Sensitive Paint). The local displacement vectors were obtained by finding the displacement which maximizes the cross-correlation between two interrogation windows of 'wind-off' and 'wind-on' images. A recursive multigrid processing was employed to increase the non-linear spatial resolutions. The variations of image were precisely measured without identifying the control points.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 춘계학술대회
• /
• pp.1778-1782
• /
• 2004

A new algorithm, CBIR (Correlation-Based Image Registration) was proposed to improve the resolution of image registration for PSP (Pressure-Sensitive Paint). The local displacement vectors were obtained by finding the displacement which maximizes the cross-correlation between two interrogation windows of 'wind-off' and 'wind-on' images. A recursive multigrid processing was employed to increase the non-linear spatial resolutions. The variations of image were precisely measured without identifying the control points.

• 제어로봇시스템학회논문지
• /
• 제16권1호
• /
• pp.18-24
• /
• 2010

In this paper, we address an active ranging system based on laser structured light image for mobile robot application. Since the burdensome correspondence problem is avoidable, the structured light image processing has efficient computation in comparison with the conventional stereo image processing. By using a cylindrical lens in the laser generation, it is possible to convert a point laser into a stripe laser without motorized scan in the proposed system. In order to achieve robustness against environmental illumination noise, we propose an efficient integro-differential image processing algorithm. The proposed system has embedded image processing module and transmits distance data to reduce the computational burden in main control system.

• 제어로봇시스템학회논문지
• /
• 제14권10호
• /
• pp.1047-1052
• /
• 2008

In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate boundedness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.