• 제어로봇시스템학회논문지
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• 제17권1호
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• pp.22-30
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• 2011

Plane detection is very important information for mission-critical of robot in 3D environment. A representative method of plane detection is Hough-transformation. Hough-transformation is robust to noise and makes the accurate plane detection possible. But it demands excessive memory and takes too much processing time. Iterative randomized Hough-transformation has been proposed to overcome these shortcomings. This method doesn't vote all data. It votes only one value of the randomly selected data into the Hough parameter space. This value calculated the value of the parameter of the shape that we want to extract. In Hough parameters space, it is possible to detect accurate plane through detection of repetitive maximum value. A common problem in these methods is that it requires too much computational cost and large number of memory space to find the distribution of mixed multiple planes in parameter space. In this paper, we detect multiple planes only via data sampling using Self Organizing Map method. It does not use conventional methods that include transforming to Hough parameter space, voting and repetitive plane extraction. And it improves the reliability of plane detection through division area searching and planarity evaluation. The proposed method is more accurate and faster than the conventional methods which is demonstrated the experiments in various conditions.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.419-428
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• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• 전기학회논문지
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• 제57권11호
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• pp.2086-2094
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• 2008

Finding a planar surface on 3D space is very important for efficient and safe operation of a mobile robot. In this paper, we propose a method using a plane detection cell (PDC) and iterative randomized Hough transform (IRHT) for finding the planar region from a 3D range image. First, the local planar region is detected by a PDC from the target area of the range image. Each plane is then segmented by analyzing the accumulated peaks from voting the local direction and position information of the local PDC in Hough space to reduce effect of noises and outliers and improve the efficiency of the HT. When segmenting each plane region, the IRHT repeatedly decreases the size of the planar region used for voting in the Hough parameter space in order to reduce the effect of noise and solve the local maxima problem in the parameter space. In general, range images have many planes of different normal directions. Hence, we first detected the largest plane region and then the remained region is again processed. Through this procedure, we can segment all planar regions of interest in the range image.

• 한국멀티미디어학회논문지
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• 제22권5호
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• pp.580-587
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• 2019

In this paper, a plane detection method using depth information is proposed. 3-D characteristics of a pixel are defined as a direction and length of a normal vector whose is calculated from a plane consisting of a local region centered on the pixel. Image coordinates of each pixel are transformed to 3-D coordinates in order to obtain the local planes. Regions of each plane are detected by calculating similarity of the 3-D characteristics. The similarity of the characteristics consists of direction and distance similarities of normal vectors. If the similarity of the characteristics between two adjacent pixels is enough high, the two pixels are regarded as consisting of same plane. Simulation results show that the proposed method using the depth picture is more accurate for detecting plane areas than the conventional method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.588-591
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• 2004

In this paper, we propose a ground plane detection algorithm, using a new image processing method (IPD). To extract the ground plane from the color image acquired by monocular camera, we use a new identical pixel detection method (IPD) and an edge detection method. This IPD method decides whether the pixel is identical with the ground plane pixel or not. The IPD method needs the reference area and its performance depends on the reference area size. So we propose the reference area auto-expanding algorithm in accordance with situation. And we evaluated the proposed algorithm by the experiments in the various environments. From the experiments results, we know that the proposed algorithm is efficient in the real indoor environment.

• 한국산업정보학회논문지
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• 제24권2호
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• pp.47-55
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• 2019

본 논문에서는 조명의 영향을 받지 않는 깊이 정보를 이용한 번호판 검출 방법을 제안한다. 깊이 정보를 통해 블록 내 화소들의 3차원 카메라 좌표를 구하고, 이를 통해 블록 내 평면의 인자를 계산한다. 그 후 인접한 블록간의 평면의 법선 벡터들을 비교하여 유사도를 측정한다. 평면 유사도가 높을 경우 두 블록이 한 평면에 속해 있다고 간주하여 그룹화함으로써 평면 영역을 검출한다. 검출된 평면 영역에 대해 깊이 정보를 이용하여 영역의 높이와 너비를 실제 번호판과 비교하여 번호판을 검출한다.

• Journal of Multimedia Information System
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• 제6권3호
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• pp.119-124
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• 2019

In this paper, a method of detecting vehicle plates through depth pictures is proposed. A vehicle plate can be recognized by detecting the plane areas. First, plane factors of each square block are calculated. After that, the same plane areas are grouped by comparing the neighboring blocks to whether they are similar planes. Width and height for the detected plane area are obtained. If the height and width are matched to an actual vehicle plate, the area is recognized as a vehicle plate. Simulations results show that the recognition rates for the proposed method are about 87.8%.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.983-988
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• 2011

This paper presents a robust method for ground plane detection in vision-based applications based on a monocular sequence of images with a non-stationary camera. The proposed method, which is based on the reliable estimation of the homography between two frames taken from the sequence, aims at designing a practical system to detect road surface from traffic scenes. The homography is computed using a feature matching approach, which often gives rise to inaccurate matches or undesirable matches from out of the ground plane. Hence, the proposed homography estimation minimizes the effects from erroneous feature matching by the evaluation of the difference between the predicted and the observed matrices. The method is successfully demonstrated for the detection of road surface performed on experiments to fill an information void area taken place from geometric transformation applied to captured images by an in-vehicle camera system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -1
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• pp.9-11
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• 2002

We improve the free-space optical interconnection efficiency by using circular aperture computer-generated hologram (CGH). In free-space optical interconnection system using CGH, the single CGH is composed of sub-CGHs, which can change the direction of input beams to desired output positions, by Fourier transform. Each sub-CGH is rectangular shape, so the input beams through each sub-CGH are transformed to sinc functions in output plane. The side lobes of each sinc function are superimposed in output plane and they result in detection error in output plane, so the detection efficiency is low. We use the circular shaped sub-CGHs in order to reduce the side lobe value in output plane instead of rectangular shaped sub-CGHs. The each input beam is transformed to first-order Bessel functions through circular shaped sub-CGHs in output plane. The side lobes of first-order Bessel functions us low values compared with side lobes of sinc function, so we can improve the detection efficiency in output plane. We use binary phase modulated CGH, and confirm this improvement results by simulation.

• 한국전자파학회논문지
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• 제11권6호
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• pp.984-989
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• 2000

본 논문은 35GHz에서 동작하는 이동 목표물 추적용 마이크로스트립 배열 안테나에 대해 기술하였다. 넓은 범위에서 목표물을 탐지하기 위해 안테나는 azimuth 방향으로는 넒은 빔 폭이 넓은 E-plane 방향으로 배열하였으며, 3-dB 테이퍼 급전구조를 이용하여 비교적 간단하게 배열 안테나의 side-lobe level (SLL)를 -20dB이하로 하였으며, 동시에 azimuth 방향으로 12.8$^{\circ}$로 넓은 빔 폭을 얻도록 하였다.