• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.1085-1088
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• 1999

This paper presents a method for soccer scene analysis and coordinate transformation from scene to ground model using a priori knowledge. First, the ground and spectator regions are separated, and various objects are extracted from the separated ground region. Second, an affine model is used for mapping the object positions on the soccer image into the position on the ground model. Problems regarding holes arising from mapping processing are solved using inverse mapping instead of a usual interpolation method. Experiments are performed on a PC using about 100 RGB images acquired at 240＊640 resolution and 3∼5 frames per second.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.9
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• pp.142-150
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• 2002

This study describes a method of finding an optimal path of a soccer robot by using a concentric circle method with different radii of rotation. Comparing with conventional algorithms which try to find the shortest path length, the variable concentric circle method find the shortest moving time. The radius fur the shortest moving time for a given ball location depends on the relative location between a shooting robot and a ball. Practically it is difficult to find an analytical solution due to many unknowns. Assuming a radius of rotation within a possible range, total path moving time can be calculated by adding the times needed for straight path and circular path. Among these times the shortest time is obtained. In this paper, a graphical solution is presented such that the game ground is divided into 3 regions with a minimum, medium, and maximum radius of rotation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.696-702
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• 2015

This paper suggests a new method for making a navigation path by using Bezier curve in order to improve the navigation performance used to avoid obstacles during a robot soccer game. We analyzed the advantages and disadvantages of both vector-field and limit-cycle navigation methods, which are the mostly widely used navigation methods for avoiding obstacles. To improve the disadvantages of these methods, we propose a new design technique for generating a more proper path using Bezier curve and describe its advantages. Using computer simulations and experiments, we compare the performance of vector-field navigation with that of Bezier curve navigation. The results prove that the navigation performance using Bezier curve is relatively superior to the other method.

• Proceedings of the Korean Information Science Society Conference
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• 2011.06c
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• pp.21-24
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• 2011

본 논문에서는 장기간 축적된 대용량의 축구 비디오 데이터를 데이터 마트로 저장하고, 이를 이용하여 다차원의 고수준 분석이 가능한 멀티미디어 데이터 기반의 데이터 큐브 시스템인 Soccer Cube의 프로토타입을 설계 및 구현한다. 이로써 축구 전략가들은 본인이 분석하고자 하는 관점에 따라 해당 차원들을 선택하고, 각 차원들의 추상화 정도를 조절함으로써 축구 비디오에 대한 고수준의 분석이 가능하다. 실제 2010년 남아프리카 공화국 월드컵의 스페인 팀을 대상으로 Soccer Cube 시스템을 구축한 후, OLAP 연산의 사례 연구를 통하여 다양한 분석이 가능함과 함께 그 실효성을 검증한다.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.803-812
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• 2000

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

• Proceedings of the IEEK Conference
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• summer
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• pp.119-121
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• 2004

Video event detection has become an essential application in multimedia computing. For sports video, salient events are usually detected by analyzing video sequence by specific decision rules. However in many kinds of sports video (e.g. soccer), the game contains continuous actions, in which the boundaries of shots, scenes are uncertain. So the conventional analyzing methods using crisp decisions are not efficient. Fuzzy logic is a natural approach that can tackle this problem. In this paper, we present a new approach using fuzzy technique for event detection in soccer video. The experiment shows encouraging results for this method

• Proceedings of the Korean Institute of Interior Design Conference
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• 2004.11a
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• pp.159-162
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• 2004

The globalization through sport has its own positive point, because its speed can proceed faster than the other area. For twenty-five years long Soccer has influenced people all of the world not only as a role of the most enjoyable sport, but also as a role of the most important position in politics, economics and social fields. Moreover, soccer has comprised transcendentally within region, race and nation which has made a big market share in leisure industry. By completing this research, the Sport Exhibition should be defined innovatively as a place that enables people actively to develop their creativity. Some of overseas sport exhibitions were selected as a sample in this study, such as The National Football Museum in England, Cornilon Nord Saint Denis in France and Sir Matt Busby Way Old Trafford Manchestrer Ml6 ORA in England, which produced an experience based exhibition. Here this study is purposed to establish, efficiently, the history of korean soccer and FIFA Worldcup as a part of construction for 2002 FIFA Worldcup exhibition and to define its conceptional characteristics composition of planning and schematic design than to play a role as basic study of architectural space.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.5
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• pp.590-595
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• 2003

In this paper, we propose a new method to the speed control of soccer robot using messy Genetic Algorithm(mGA). In order to arrive in the target of the soccer robot within the smallest time ,we propose the speed control function with several parameters which represent the reflection ratio distance and angle error. Also, we propose the algorithm for searching these parameters by using messy Genetic Algorithm. As a result of finding the optimal parameters, we can move the robot the most quickly in the target under the complex environment.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.877-880
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• 2000

In this paper, we develop an algorithm of soccer image sequences mosaicing using reverse affine transform. The continuous mosaic images of soccer ground field allows the user/viewer to view a “wide picture” of the player’s actions The first step of our algorithm is to automatic detection and tracking player, ball and some lines such as center circle, sideline, penalty line and so on. For this purpose, we use the ground field extraction algorithm using color information and player and line detection algorithm using four P-rules and two L-rules. The second step is Affine transform to map the points from image to model coordinate using predefined and pre-detected four points. General Affine transformation has many holes in target image. In order to delete these holes, we use reverse Affine transform. We tested our method in real image sequence and the experimental results are given.