• 한국멀티미디어학회논문지
• /
• 제17권7호
• /
• pp.787-796
• /
• 2014

Many mobile robot navigation methods utilize laser scanners, ultrasonic sensors, vision camera, and so on for detecting obstacles and path following. However, human utilizes only vision(e.g. eye) information for navigation. In this paper, we study a mobile robot control method based on only the camera vision. The Gaussian Mixture Model and a shadow removal technology are used to divide the foreground and the background from the camera image. The mobile robot uses a combined CAMSHIFT and KLT feature tracker algorithms based on the information of the foreground to follow a person. The algorithm is verified by experiments where a person is tracked and followed by a robot in a hallway.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.824-827
• /
• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.256-261
• /
• 2005

In this research, we propose a path-planning algorithm for an autonomous mobile robot using geographical information, under the condition that the robot moves in unknown environment. All image inputted by camera at every sampling time are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. The geographical information was transformed into 1-dimensional evaluation value that expressed the difficulty of movement for the robot. The robot goes toward the goal searching for path that minimizes the evaluation value at every sampling time. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. We used a sensor fusion method for improving the mobile robot dead reckoning accuracy. The experiment results that confirm the effectiveness of the proposed algorithm on the robot's reaching the goal successfully using geographical information are presented.

• 제어로봇시스템학회논문지
• /
• 제15권12호
• /
• pp.1223-1231
• /
• 2009

We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.

• 한국가시화정보학회지
• /
• 제10권2호
• /
• pp.25-31
• /
• 2012

High-performance smartphones, equipped with a digital camera and an application software, can render conventional bench-top laboratory instruments mobile at affordable costs. As the smartphone-based devices are portable and wireless, they have wide applications especially in providing point-of-care (POC) tests in resource-constrained areas. We developed a hand-held diagnostic system, Mobile SmartScope, which consists of a small optical unit integrated with a smartphone. The performance of the SmartScope was favorably compared with that of conventional light microscopy in detecting and quantifying red blood cells. We also evaluated the fluorescence detection limit of the SmartScope incorporated with a blue light-emitting diode and appropriate optical filters by using fluorescently labeled microbeads for intensity calibration.

• 한국인터넷방송통신학회논문지
• /
• 제8권1호
• /
• pp.19-24
• /
• 2008

본 논문에서는 모바일 영상을 위한 JPEG 양자화 테이블 설계 방법을 제안한다. 작은 화면에서 많은 정보를 표현해야 하는 모바일 영상의 특성을 고려하여 고주파 성분의 영향을 보정하도록 양자화 테이블을 모델링한다. 제안한 모델링 방법을 서비스되는 모바일 QVGA 영상에 적용하여 pre-emphasis factor를 최적화 하였다. 모바일 QVGA 영상에 대한 실험을 통하여 bpp와 PSNR이 향상됨을 보였다.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
• /
• pp.193-196
• /
• 2002

In this paper, we presents the remote inspection activity with a mobile robot at the calandria face areas of the PHWR (pressurized heavy water reactor) nuclear power plants during full power plant operation.. The tele-operated mobile robot has been developed for this task. A 4 wheeled mechanism with the dual reconfigurable crawler arm has been adopted for the ease access to the high radiation area of calandria face. A specially designed extendable long reach mast attached on the mobile platform and the thermal image monitoring system enable human eyes to look into the calandria face. Application of robot will keep human workers from high radiation exposure and enhance the reliability of nuclear power plants.

• 한국컴퓨터정보학회:학술대회논문집
• /
• 한국컴퓨터정보학회 2017년도 제56차 하계학술대회논문집 25권2호
• /
• pp.409-410
• /
• 2017

기존의 야외 주차관리 시스템은 초음파 센서 모듈, 주차 유도 센서, 주차 감지 전용 센서 등의 소형 센서와 장치들을 다수 사용하기 때문에 고비용의 발생과 주차장 관리의 불편함이 초래된다. 이러한 기존 시스템이 요구하는 장치들을 최소화 하고자 CCTV 기반의 소프트웨어 영상처리 기술로 차량의 위치와 주차공간의 유/무를 확인할 수 있는 야외 주차장 관리 시스템을 제시한다. 제시하는 시스템은 MOBILE 기반의 서비스를 제공하기 때문에 사용자에게 편리한 주차장 이용 서비스를 제공하고, CCTV를 기반으로 관리자에 의한 실시간 모니터링으로 주차장 내의 사고 및 긴급 상황을 인지해 사고를 대응할 수 있다.

• 제어로봇시스템학회논문지
• /
• 제14권2호
• /
• pp.156-160
• /
• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.952-959
• /
• 2016

This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.