• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.5
• /
• pp.479-486
• /
• 2012

In this paper, a ranging system is proposed that is able to measure 360 degree omnidirectional distances to environment objects. The ranging system is based on the structured light imaging system with catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured light image processing algorithms are developed; sequential integration of difference images with modulated structured light and radial search based on Bresenham line drawing algorithm. A dedicated FPGA image processor is developed to speed up the overall image processing. Also the distance equation is derived in the omnidirectional imaging system with a hyperbolic mirror. It is expected that the omnidirectional ranging system is useful for mapping and localization of mobile robot. Experiments are carried out to verify the performance of the proposed ranging system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.5
• /
• pp.557-562
• /
• 2014

It is well known that solar tracking systems can increase the efficiency of exiting solar panels significantly. In this paper, a hybrid solar tracking system has been developed by using both astronomical estimates from a GPS and the image processing results of a camera vision system. A decision making process is also proposed to distinguish current weather conditions using camera images. Based on the decision making results, the proposed hybrid tracking system switches two tracking control methods. The one control method is based on astronomical estimates of the current solar position. And the other control method is based on the solar image processing result. The developed hybrid solar tracking system is implemented on an experimental platform and the performance of the developed control methods are verified.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.7
• /
• pp.587-594
• /
• 2005

In this paper, a robust correlation-based video tracking is proposed to track a moving object in correlated image sequences. A correlation-based video tracking algorithm seeks to align the incoming target image with the reference target block image, but has critical problems, so called a false-peak problem and a drift phenomenon (correlator walk-off. The false-peak problem is generally caused by highly correlated background pixels with similar intensity of a moving target and the drift phenomenon occurs when tracking errors accumulate from frame to frame because of the nature of the correlation process. At first, the false-peaks problem for the ordinary correlation-based video tracking is investigated using a simple mathematical analysis. And, we will suggest a robust selective-attention correlation measure with a gradient preprocessor combined by a drift removal compensator to overcome the walk-off problem. The drift compensator adaptively controls the template block size according to the target size of interest. The robustness of the proposed method for practical application is demonstrated by simulating two real-image sequences.

• KIEE International Transaction on Systems and Control
• /
• v.12D no.1
• /
• pp.7-11
• /
• 2002

In this study, fur the shape-based image retrieval, a method using local differential invariants is proposed. This method calculates the differential invariant feature vector at every feature point extracted by Harris comer point detector. Then through vector quantization using LBG algorithm, all feature vectors are represented by a codebook index. All images are indexed by the histogram of codebook index, and by comparing the histograms the similarity between images is obtained. The proposed method is compared with the existing method by performing experiments for image database including various 1100 trademarks.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.257-257
• /
• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.5 no.3
• /
• pp.135-140
• /
• 2009

In this paper, a robot control system with stereoscopic Image was presented. The robot control system has an auto-focusing functionality which measures the distance between robot and object using an infrared sensor. By providing depth and information based on the stereoscopic image, it allows user to have presence and immersion as if he(she) be there. the proposed robot control system's propriety was examined through the comparison experiment with the mono-scopic image.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.11
• /
• pp.1637-1645
• /
• 2004

In remote control of telerobotics equipment, the real-time visual feedback is necessary in order to facilitate real-time control. Because of the network congestion and the associated delays, the real-time image feedback is generally difficult in the public networks like internet. If the remote user is not able to receive the image feedback within a certain time, the work performance may tend to decrease, and it makes difficulties to control of the telerobotics equipment. In this paper, we propose an improved visual feedback scheme over the internet for telerobotics system. The size of a remote site image and its quality are adjusted for efficient transmission. The constructed system has a better real-time update characteristics, and shows a potential for the real-time visual control of the telerobotics system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.451-456
• /
• 1989

New image coding system for facial images called 'Knowledge-based image coding' is described, in which input image is analyzed and output image is synthesized using analysis results. Analysis and synthesis method of facial expressions are presented. Synthesis rules are determined on the basis of facial muscles and are also used in analysis process to produce a faithful reconstruction of the original image. A number of examples are shown.

• Journal of Mechanical Science and Technology
• /
• v.16 no.6
• /
• pp.762-769
• /
• 2002

This paper presents how effective it is to use many features for improving the speed and accuracy of visual servo systems. Some rank conditions which relate the image Jacobian to the control performance are derived. The focus is to describe that the accuracy of the camera position control in the world coordinate system is increased by utilizing redundant features in this paper. It is also proven that the accuracy is improved by increasing the number of features involved. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm robot manipulator made by Samsung Electronic Co. Ltd..

• Journal of Multimedia Information System
• /
• v.4 no.2
• /
• pp.65-73
• /
• 2017

This paper proposes a method to improve the image quality by designing Unsharp Mask Filter (UMF) based on Retinex theory which controls the frequency pass characteristics adaptively. Conventional unsharp masking technique uses blurring image to emphasize sharpness of image. Unsharp Masking(UM) adjusts the original image and sigma to obtain a high frequency component to be emphasized by the difference between the blurred image and the high frequency component to the original image, thereby improving the contrast ratio of the image. In this paper, we design a Unsharp Mask Filter(UMF) that can process the contrast ratio improvement method of Unsharp Masking(UM) technique with one filtering. We adaptively process the contrast ratio improvement using Unsharp Mask Filter(UMF). We propose a method based on Retinex theory for adaptive processing. For adaptive filtering, we control the weights of Unsharp Mask Filter(UMF) based on the human visual system and output more effective results.