• Proceedings of the KIEE Conference
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.427-429
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• 2005

This paper presents the use of Point Number Algorithm (PNA) for real-time image processing for position identification of mobile robot. PNA can get how many points in the image gotten from the robot vision and can calculate the distance between the robot and the wall by the number of the points. The algorithm can be applied to a robot vision system enable to identify where it is in the workspace. In the workspace, the walls are made up by white background with many black points on them evenly. The angle of the vision is set invariable. So the more black points in the vision, the longer the distance is from the robot to the wall. But when the robot does not face the wall directly, the number of the black points is different. When the robot faces the wall, the least number of the black points can be gotten. The simulation results are presented at the end of this paper.

• Proceedings of the Korean Society of Computer Information Conference
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• 한국컴퓨터정보학회 2017년도 제55차 동계학술대회논문집 25권1호
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• pp.49-50
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• 2017

PC 또는 모바일 기기를 이용한 검색을 위해서는 키보드 또는 터치패드를 이용하여 키워드를 입력하는 고전적인 방식이 현재까지 널리 사용되고 있다. 음성, 이미지, 제스처 등을 이용한 새로운 검색 기술들이 등장하고 있지만, 관련 검색엔진의 문제로 검색 결과가 다소 미흡한 상태이다. 본 논문에서는 기존의 포털 검색의 키워드 입력 방식과는 달리, 검색하고자 하는 대상을 스마트폰과 같은 모바일 기기의 카메라로 촬영하면 해당 촬영 이미지가 사용자 입장에서는 검색 키워드와 같이 동일한 역할을 할 수 있도록 CNN기법을 사용하여 Image-to-Text 형태의 모바일 비주얼 검색 서비스에 대해 제안한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권9호
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• pp.4527-4548
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• 2017

This paper proposes a method to generate panoramic images by combining conventional feature extraction algorithms (e.g., SIFT, SURF, MPEG-7 CDVS) with sensed data from inertia sensors to enhance the stitching results. The challenge of image stitching increases when the images are taken from two different mobile phones with no posture calibration. Using inertia sensor data obtained by the mobile phone, images with different yaw, pitch, and roll angles are preprocessed and adjusted before performing stitching process. Performance of stitching (e.g., feature extraction time, inlier point numbers, stitching accuracy) between conventional feature extraction algorithms is reported along with the stitching performance with/without using the inertia sensor data. In addition, the stitching accuracy of video data was improved using the same sensed data, with discrete calculation of homograph matrix. The experimental results for stitching accuracies and speed using sensed data are presented in this paper.

• The Journal of Korean Institute of Communications and Information Sciences
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• 제40권10호
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• pp.2062-2064
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• 2015

In this paper, we propose indoor positioning algorithm performed at the image sensor equipped in mobile station, which receives the light signal from LED panels. To evaluate the performance of positioning algorithm, we consider the ambient noise existing indoor environment, and it is found that the proposed algorithm estimates the position of mobile station with high accuracy regardless of existence of ambient noise.

• The Journal of Korea Robotics Society
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• 제18권1호
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• pp.66-71
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• 2023

As cameras have become primary sensors for mobile robots, vision based Simultaneous Localization and Mapping (SLAM) has achieved impressive results with the recent development of computer vision and deep learning. However, vision information has a disadvantage in that a lot of information disappears in a low-light environment. To overcome the problem, we propose an image enhancement method to perform visual SLAM in a low-light environment. Using the deep generative adversarial models and modified gamma correction, the quality of low-light images were improved. The proposed method is less sharp than the existing method, but it can be applied to ORB-SLAM in real time by dramatically reducing the amount of computation. The experimental results were able to prove the validity of the proposed method by applying to public Dataset TUM and VIVID++.

• Journal of Korea Spatial Information System Society
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• 제4권2호
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• pp.55-64
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• 2002

VEfficient generation of road data is one of the most important issues in GIS (Geographic Information System). In this paper, we propose a hybrid approach for automatic generation of road data by combining mobile mapping and image processing techniques. Mobile mapping systems have a form of vehicle equipped with CCD camera, GPS, and INS. They can calculate absolute position of objects that appear in acquired image by photogrammetry, but it is labor-intensive and time-consuming. Automatic road detection methods have been studied also by image processing technology. However, the methods are likely to fail because of obstacles and exceptive conditions in the real world. To overcome the problems, we suggest a hybrid method for automatic road generation, by exploiting both GPS/INS data acquired by mobile mapping system and image processing algorithms. We design an estimator to estimate 3-D coordinates of road line and corresponding location in an image. The estimation process reduces complicated image processing operations that find road line. The missing coordinates of road line due to failure of estimation are obtained by cubic spline interpolation. The interpolation is done piecewise, separated by rapid change such as road intersection. We present experimental results of the suggested estimation and interpolation methods with image sequences acquired by mobile mapping system, and show that the methods are effective in generation of road data.

• The Pure and Applied Mathematics
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• 제11권1호
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• pp.1-14
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• 2004

Due to the development of computer network and mobile communications, the security in image data and other related source are very important as in saving or transferring the commercial documents, medical data, and every private picture. Nonetheless, the conventional encryption algorithms are usually focusing on the word message. These methods are too complicated or complex in the respect of image data because they have much more amounts of information to represent. In this sense, we proposed an efficient secret symmetric stream type encryption algorithm which is based on Boolean matrix operation and the characteristic of image data.

• Journal of the Korea Society of Computer and Information
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• 제10권6호
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• pp.345-354
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• 2005

A mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this Position estimation, a method of determining an optimal path for the mobile manipulator from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the mobile manipulator.

• The Journal of Korean Institute of Next Generation Computing
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• 제15권5호
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• pp.53-63
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• 2019

To provide a hand gesture interface through deep learning in mobile environments, research on the light-weighting of networks is essential for high recognition rates while at the same time preventing degradation of execution speed. This paper proposes a method of real-time recognition of written characters in the air using a finger on mobile devices through the light-weighting of deep-learning model. Based on the SSD (Single Shot Detector), which is an object detection model that utilizes MobileNet as a feature extractor, it detects index finger and generates a result text image by following fingertip path. Then, the image is sent to the server to recognize the characters based on the learned OCR model. To verify our method, 12 users tested 1,000 words using a GALAXY S10+ and recognized their finger with an average accuracy of 88.6%, indicating that recognized text was printed within 124 ms and could be used in real-time. Results of this research can be used to send simple text messages, memos, and air signatures using a finger in mobile environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제20권6호
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• pp.254-260
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• 2019

Recently, a self-camera that generates and distributes a large amount of moving images has been rapidly increasing due to the appearance of SNS such as Facebook, Instagram, and Tweet using mobile. In particular, the amount of SNS connections using mobile phones is significantly increasing in terms of usage, number of connections, and usage time. However, the use of a self-recording system using a smartphone by itself is extremely limited not only in terms of usage but also in frequency of use. In addition, the conventional unattended recording system is a very expensive system that automatically records and tracks an object to be photographed using an infrared signal. Therefore, this paper developed a low cost unmanned recording system using mobile phone. The system consists of a commercial mobile camera, a servomotor for moving the camera from side to side, a microcontroller for controlling the motor, and a commercial wireless Bluetooth earset for video audio input. And it is an unmanned automation system using mobile, and anyone can record image by self image tracking.