• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.479-486
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• 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 Broadcast Engineering
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• v.16 no.3
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• pp.427-438
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• 2011

In this paper, we propose a content retrieval system using pictures taken from a display for more intelligent mobile services. We focus on the search robustness by minimizing the influence of photographing conditions such as changes in the illumination intensity. For an efficient search and precise detection, as well as robustness, we use a two-step comparison method based on indexing features and a binary map based on luminance and chrominance difference with the adjacent blocks. We also evaluate the proposed algorithm by comparing with the existing algorithms, and we show the content retrieval system that we've implemented using the proposed algorithm.

• 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 the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.74-79
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• 2008

In an H.264/AVC video encoder, the motion estimation at fractional pixel accuracy improves a coding efficiency and image quality. However, it requires additional computation overheads for fractional search and interpolation, and thus, reducing the computation complexity of fractional search becomes more important. This paper proposes fast fractional search algorithms by combining the SASR(Simplified Adaptive Search Range) and the MSDSP(Mixed Small Diamond Search Pattern) with the predicted fractional motion vector. Compared with the full search and the prediction-based directional fractional pixel search, the proposed algorithms can reduce up to 93.2% and 81% of fractional search points, respectively with the maximum PSNR lost less than 0.04dB. Therefore, the proposed fast search algorithms are quite suitable for mobile applications requiring low power and complexity.

• Journal of Korea Multimedia Society
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• v.18 no.12
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• pp.1453-1461
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• 2015

Since digital images and videos are rapidly increasing in the internet with the spread of mobile computers and smartphones, research on image retrieval has gained tremendous momentum. Color, shape, and texture are major features used in image retrieval. Especially, color information has been widely used in image retrieval, because it is robust in translation, rotation, and a small change of camera view. This paper proposes a new method for histogram refinement based on local color difference. Firstly, the proposed method converts a RGB color image into a HSV color image. Secondly, it reduces the size of color space from 256³ to 32. It classifies pixels in the 32-color image into three groups according to the color difference between a central pixel and its neighbors in a 3x3 local region. Finally, it makes a color difference vector(CDV) representing three refined color histograms, then image retrieval is performed by the CDV matching. The experimental results using public image database show that the proposed method has higher retrieval accuracy than other conventional ones. They also show that the proposed method can be effectively applied to search low resolution images such as thumbnail images.

• Journal of Korea Multimedia Society
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• v.9 no.4
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• pp.401-413
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• 2006

We propose video management system based on MPEG-7 for mobile device(MVMS). Most of existing MPEG-7 applications manage MPEG-7 document based on file system in the desktop environment. To contrast them, because the MVMS manages only necessary information using embedded database system for MPEG-7 documents in mobile devices, it can use efficiently lack of the resource in mobile device environment. MVMS supports key image extraction and MPEG-7 document edition function. Moreover, this is possible search and management of multi document because of MVMS manage MPEG-7 data through embedded DB.

• Journal of Digital Convergence
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• v.12 no.10
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• pp.329-335
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• 2014

With the spread of mobile phones and wireless networks, medical imaging needs to be accessible outside the hospital for patients. We develop the mobile PACS platform that allows doctors or patients to store, search, query and transfer medical images for their convenience. This system is a mobile based platform that patients DICOM images can be viewed from the hospital PACS server, then they can be converted according to smart standardization. For this, we designed the platform to transfer the data between PACS, mPACS and users. Also we suggest to use DICOM transformation processing to display DICOM images in PACS server.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.257-264
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• 2009

This paper proposes a novel face detection method that finds tiny faces located at a long range even with low-resolution input images captured by a mobile robot. The proposed approach can locate extremely small-sized face regions of $12{\times}12$ pixels. We solve a tiny face detection problem by organizing a system that consists of multiple detectors including a mean-shift color tracker, short- and long-rage face detectors, and an omega shape detector. The proposed method adopts the long-range face detector that is well trained enough to detect tiny faces at a long range, and limiting its operation to only within a search region that is automatically determined by the mean-shift color tracker and the omega shape detector. By focusing on limiting the face search region as much as possible, the proposed method can accurately detect tiny faces at a long distance even with a low-resolution image, and decrease false positives sharply. According to the experimental results on realistic databases, the performance of the proposed approach is at a sufficiently practical level for various robot applications such as face recognition of non-cooperative users, human-following, and gesture recognition for long-range interaction.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.1
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• pp.58-63
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• 2020

This paper proposes the method for improving the localization accuracy of the mobile robot based on the stereo camera. To restore the position information from stereo images obtained by the stereo camera, the corresponding point which corresponds to one pixel on the left image should be found on the right image. For this, there is the general method to search for corresponding point by calculating the similarity of pixel with pixels on the epipolar line. However, there are some disadvantages because all pixels on the epipolar line should be calculated and the similarity is calculated by only pixel value like RGB color space. To make up for this weak point, this paper implements the method to search for the corresponding point simply by calculating the gap of x-coordinate when the feature points, which are extracted by feature extraction and matched by feature matching method, are a pair and located on the same y-coordinate on the left/right image. In addition, the proposed method tries to preserve the number of feature points as much as possible by finding the corresponding points through the conventional algorithm in case of unmatched features. Because the number of the feature points has effect on the accuracy of the localization. The position of the mobile robot is compensated based on 3-D coordinates of the features which are restored by the feature points and corresponding points. As experimental results, by the proposed method, the number of the feature points are increased for compensating the position and the position of the mobile robot can be compensated more than only feature extraction.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.698-703
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• 2006

This paper proposes an approach to search for the odor source using an autonomous mobile robot equipped with vision and odor sensors. The robot is initially navigating around the specific area with vision system until it looks for an object in the camera image. The robot approaches the object found in the field of view and checks it with the odor sensors if it is releasing odor. If so, the odor is classified and localized with the classification algorithm based on neural network The AMOR(Autonomous Mobile Olfactory Robot) was built up and used for the experiments. Experimental results on the classification and localization of odor sources show the validity of the proposed algorithm.