• Journal of the Semiconductor & Display Technology
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• v.16 no.4
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• pp.30-35
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• 2017

Moving object segmentation from a nonstationary camera is a difficult problem due to the motion of both camera and the object. In this paper, we propose a new confidence-based background subtraction technique from moving camera. The method is based on clustering of motion vectors and generating adaptive multi-homography from a pair of adjacent video frames. The main innovation concerns the use of confidence images for each foreground and background motion groups. Experimental results revealed that our confidence-based approach robustly detect moving targets in sequences taken by a freely moving camera.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.403-406
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• 1996

In this paper, the geometry between horizontal and vertical movement of lens is studied for automatic vergence control of horizontal moving axis stereo camera. When the disparity of stereo remains contant, the horizontal movement of camera lens for image disparity and the vertical movement for image focus have linear geometry. Using this linearity, we can control the vergence of stereo camera only by focusing of stereo camera lens.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.5
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• pp.223-228
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• 2017

SMT is an device that picks up electronic components and does precise placing onto PCBs. In order to do this, it stops in front of a camera installed in the middle to go over vision inspection. And after that it is move for placing. There are 16 different types of routes in this process. This paper compared to the moving time of three methods in the (sLa-Camera-pLa)type. The first method is stopping in front of the camera for vision inspection and placing components onto PCBs(stop-motion). The second method is moving in front of the camera for vision inspection without stopping(fly1-motion). The third method is inspecting the components when the speed of the X axis, the Y axis is the best and is placing components onto PCBs(fly2-motion). This paper shows the moving time of three methods is same. Therefore we proved that the stop-motion method can be placing in the fastest time without changing structure of the device in the (sLa-Camera-pLa)type.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.164-164
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• 2000

This paper proposes a moving window technique that extracts lanes and vehicles using the images captured by a CCD camera equipped inside an automobile in real time. For the purpose, first of all the optimal size of moving window is determined based upon speed of the vehicle, road curvature, and camera parameters. Within the moving windows that are dynamically changing, lanes and vehicles are extracted, and the vehicles within the driving lanes are classified as obstacles. Assuming highway driving, there are two sorts of image-objects within the driving lanes: one is ground mark to show the limit speed or some information for driving, and the other is the vehicle as an obstacle. Using characteristics of three-dimension objects, a neural network can be trained to distinguish the vehicle from ground mark. When it is recognized as an obstacle, the distance from the camera to the front vehicle can be calculated with the aids of database that keeps the models of automobiles on the highway. The correctness of this measurement is verified through the experiments comparing with the radar and laser sensor data.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.45-53
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• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.650-657
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• 2012

An effective dual-mode camera system(a passive wide-angle camera and a pan-tilt-zoom camera) is proposed in order to improve the performance of visual surveillance. The fixed wide-angle camera is used to monitor large open areas, but the moving objects on the images are too small to view in detail. And, the PTZ camera is capable of increasing the monitoring area and enhancing the image quality by tracking and zooming in on a specific moving target. However, its FOV (Field of View) is limited when zooming in on a specific target. Therefore, the cooperation of wide-angle and PTZ cameras is complementary. In this paper, we propose an automatic initial set-up algorithm and coordinate transform method from the wide-angle camera coordinate to the PTZ one, which are necessary to achieve the cooperation. The automatic initial set-up algorithm is able to synchronize the views of two cameras. When a moving object appears on the image plane of a wide-angle camera after the initial set-up positioning, the obtained values of the wide-angle camera should be transformed to the PTZ values based on the coordinate transform method. We also develope the PTZ control method. Various in-door and out-door experiments show that the proposed dual-camera system is feasible for the effective visual surveillance.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.91-98
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• 2008

This paper describes the recognition method of moving objects in mobile robot with an omnidirectional camera. The moving object is detected using the specific pattern of an optical flow in omnidirectional image. This paper consists of two parts. In the first part, the pattern of an optical flow is investigated in omnidirectional image. The optical flow in omnidirectional image is influenced on the geometry characteristic of an omnidirectional camera. The pattern of an optical flow is theoretically and experimentally investigated. In the second part, the detection of moving objects is presented from the estimated optical flow. The moving object is extracted through the relative evaluation of optical flows which is derived from the pattern of optical flow. In particular, Focus-Of-Expansion (FOE) and Focus-Of-Contraction (FOC) vectors are defined from the estimated optical flow. They are used as reference vectors for the relative evaluation of optical flows. The proposed algorithm is performed in four motions of a mobile robot such as straight forward, left turn, right turn and rotation. Experimental results using real movie show the effectiveness of the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.1
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• pp.52-54
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• 2015

In this paper we propose a new background motion compensation method which can be applicable to moving object detection with a moving monocular camera. To estimate the background motion, a series of image warpings are carried out for each pair of the corresponding patches, defined by the fixed-size lattice, based on the motion information extracted from the feature points surrounded by the patches and the estimated camera motion. Experiment results proved that the proposed has approximately 50% faster in execution time and 8dB higher in PSNR comparing to a conventional method.

• Journal of the Korea Convergence Society
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• v.10 no.9
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• pp.17-22
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• 2019

Gentry, an SMT equipment, is a device that absorbs electronic components from the feeder and mounts them correctly on the PCB. At this time, the gantry stops in front of the camera to check whether the parts are correctly adsorbed. In this paper, we propose a method to shorten the moving time by moving the gantry without stopping in front of the camera. This method shows that the moving time is shorter than that of the conventional method by finding a path that can be moved in the fastest time among the various moving paths. The proposed method (moving-motion) reduces the gantry travel time by 20% compared to the conventional method (stop-motion).

• ETRI Journal
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• v.23 no.4
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• pp.190-198
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• 2001

The performance of Motion Compensated Discrete Cosine Transform (MC-DCT) video coding is improved by using the region adaptive subband image coding [18]. On the assumption that the video is acquired from the camera on a moving platform and the distance between the camera and the scene is large enough, both the motion of camera and the motion of moving objects in a frame are compensated. For the compensation of camera motion, a feature matching algorithm is employed. Several feature points extracted using a Sobel operator are used to compensate the camera motion of translation, rotation, and zoom. The illumination change between frames is also compensated. Motion compensated frame differences are divided into three regions called stationary background, moving objects, and newly emerging areas each of which is arbitrarily shaped. Different quantizers are used for different regions. Compared to the conventional MC-DCT video coding using block matching algorithm, our video coding scheme shows about 1.0-dB improvements on average for the experimental video samples.