• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.119-124
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• 2013

Recent increasing demand on the indoor localization requires more advanced and hybrid technology. This paper proposes an application of the hybrid indoor localization method based on a position-coded pattern that can be used with other existing indoor localization techniques such as vision, beacon, or landmark technique. To reduce the pattern-recognition error rate, the error detection and correction algorithm was applied based on Hamming code. The indoor localization experiments based on the proposed algorithm were performed by using a QCIF-grade CMOS sensor and a position-coded pattern with an area of $1.7{\times}1.7mm^2$. The experiments have shown that the position recognition error ratio was less than 0.9 % with 0.4 mm localization accuracy. The results suggest that the proposed method could be feasibly applied for the localization of the indoor mobile service robots.

• 한국정밀공학회지
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• 제20권1호
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• pp.99-106
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system. In order to realize these tasks autonomously, the there dimensional position of target object such as electric line and the stand of insulator must be recognized accurately and rapidly. The insertion task of an electric line into a sleeve is selected as the typical task of the maintenance of active electric power distribution lines in this paper. A modified hough transform is applied to the recognition of the center of electric line and optimal target position calculation method is newly derived in order to recognize the center 3 dimensional position of the electric line. By the proposed method, it is proved that the center position of the electric line can be recognized without respect to the noise of image and the shape of electric lines and the insertion task of an electric tine is realized.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.767-771
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• 2003

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

• 전자공학회논문지B
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• 제33B권6호
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• pp.198-207
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• 1996

A PSRI (position, scale, and rotation invariant ) feature extraction and automatic target recognition system using a cooperative network and an MLP is proposed. We can extract position invarient features by obtaining the target center using the projection and the moment in preprocessing stage. The scale and rotation invariant features are extracted from the contour projection of the number of edge pixels on each of the concentric circles, which is input to the cooperative network. By extracting the representative PSRI features form the features and their differentiations using max-net and min-net, we can rdduce the number of input neurons of the MLP, and make the resulted automatic target recognition system less sensitive to input variances. Experiments are conduted on various complex images which are shifted, rotated, or scaled, and the results show that the proposed system is very efficient for PSRI feature extractions and automatic target recognitions.

• International Journal of Ocean System Engineering
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• 제1권2호
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• pp.68-75
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• 2011

This paper addresses an underwater landmark for updating UUV positioning information. A method is proposed in which the landmark's cubic shape and edge are recognized. The reliability, installation load, and management of landmark design were taken into consideration in order to assess practical applications of the landmark. Landmark recognition was based on topological features. The straight line recognition confirmed the landmark's location and enabled an UUV to accurately estimated its underwater position with respect to the landmark. An efficient recognition method is proposed, which provides real-time processing with limited UUV computing power. An underwater experiment was conducted in order to evaluate the proposed method's reliability and accuracy.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.72-79
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• 2020

To ensure the safety of Advanced Driver Assistance Systems (ADAS) or autonomous vehicles, it is important to recognize the vehicle position, and specifically, the increased accuracy of the lateral position of the vehicle is required. In recent years, the quality of GPS signals has improved a lot and the price has decreased significantly, but extreme urban environments such as tunnels still pose a critical challenge. In this study, we proposed stable and precise lane recognition and tracking methods to solve these two issues via fusion of AVM images and vehicle sensor data using an extended Kalman filter. In addition, the vehicle's lateral position recognition and the abnormal state of RTK GPS were determined using this approach. The proposed method was validated via actual vehicle experiments in urban areas reporting multipath and signal disconnections.

• 융합신호처리학회논문지
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• 제1권1호
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• pp.64-73
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• 2000

멀티미디어 단말기에서 사용자 인터페이스를 위한 한글 문자 인식기술은 빠른 처리시간과 높은 인식률을 요구한다. 따라서 본 논문에서는 특징점, 특징벡터, 가상벡터, 획간의 위치관계와 한글의 특성정보를 이용한 자소와 문자 인식기술을 제안한다. 그리고 사용자의 다양한 필체 유형에 따른 자소와 문자 인식을 위해서 한글의 특성정보와 다양한 획 정보로 구성된 한글데이터 베이스를 구축한다. 또한, 복잡한 자소 분리와 처리과정의 단순화를 위해서 획간의 위치관계에 의한 순차적 처리와 각 자소들이 가지는 획 수의 변경에 의한 백트래킹 처리를 사용한다. 제안된 온라인 한글 문자 인식기는 상용 1,200단어 중 10명이 필기한 총 600문자를 대상으로 실험한 결과 $95^{\circ}C$이상의 인식률과 13msec의 평균문자처리시간을 얻었다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 추계종합학술대회 논문집(3)
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• pp.121-124
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• 2000

In this paper, we propose a pen gesture recognition system for user interface in multimedia terminal which requires fast processing time and high recognition rate. It is realtime and interaction system between graphic and text module. Text editing in recognition system is performed by pen gesture in graphic module or direct editing in text module, and has all 14 editing functions. The pen gesture recognition is performed by searching classification features that extracted from input strokes at pen gesture model. The pen gesture model has been constructed by classification features, ie, cross number, direction change, direction code number, position relation, distance ratio information about defined 15 types. The proposed recognition system has obtained 98% correct recognition rate and 30msec average processing time in a recognition experiment.

• 지능정보연구
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• 제9권2호
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• pp.1-18
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• 2003

The automatic recognition of transport containers using image processing is very hard because of the irregular size and position of identifiers, diverse colors of background and identifiers, and the impaired shapes of identifiers caused by container damages and the bent surface of container, etc. We proposed and evaluated the novel recognition algorithm of container identifiers that overcomes effectively the hardness and recognizes identifiers from container images captured in the various environments. The proposed algorithm, first, extracts the area including only all identifiers from container images by using CANNY masking and bi-directional histogram method. The extracted identifier area is binarized by the fuzzy binarization method newly proposed in this paper and by applying contour tracking method to the binarized area, container identifiers which are targets of recognition are extracted. We proposed and applied the ART2-based RBF network for recognition of container identifiers. The results of experiment for performance evaluation on the real container images showed that the proposed algorithm has more improved performance in the extraction and recognition of container identifiers than the previous algorithms.

• Journal of Chest Surgery
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• 제22권4호
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• pp.677-679
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• 1989

Recently, we have experienced a case of acute thrombotic obstruction of the St. Jude Medical cardiac valve in the mitral position of the Heart. We will discuss about the incidence, recognition and preventive measurement of the thrombotic St. Jude Medical valve with the review of literatures.