• 제어로봇시스템학회논문지
• /
• 제20권12호
• /
• pp.1259-1266
• /
• 2014

Road signs provide important safety information about road and traffic conditions to drivers. Road signs include not only common traffic signs but also warning information regarding unexpected obstacles and road constructions. Therefore, accurate detection and identification of road signs is one of the most important research topics related to safe driving. In this paper, we propose a 3-D vision technique to automatically detect and track road signs in a video sequence which is acquired from a stereo vision camera mounted on a vehicle. First, color information is used to initially detect the sign candidates. Second, the SVM (Support Vector Machine) is employed to determine true signs from the candidates. Once a road sign is detected in a video frame, it is continuously tracked from the next frame until it is disappeared. The 2-D position of a detected sign in the next frame is predicted by the 3-D motion of the vehicle. Here, the 3-D vehicle motion is acquired by using the 3-D pose information of the detected sign. Finally, the predicted 2-D position is corrected by template-matching of the scaled template of the detected sign within a window area around the predicted position. Experimental results show that the proposed method can detect and track many types of road signs successfully. Tracking comparisons with two different methods are shown.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2008년도 추계학술대회논문집
• /
• pp.61-68
• /
• 2008

A set of modal parameters of a stay-cable have been extracted from a moving picture captured by a digital camera supported by shaking hands. It is hard to identify the center of targets attached on the cable surface from the blurred cable motion image, because of the high speed motion of cable, low sampling frequency of camera, and the shaking effect of camera. This study proposes a multi-template matching algorithm to resolve such difficulties. In addition, a sensitivity-based system identification algorithm is introduced to extract the natural frequencies and damping ratios from the ambient cable vibration data. Three sets of vibration tests are conducted to examine the validity of the proposed algorithms. The results show that the proposed technique is pretty feasible for extracting modal parameters from the severely shaking motion pictures.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2009년도 제40회 하계학술대회
• /
• pp.1835_1836
• /
• 2009

본 논문에서는 비접촉식 미세 측정 광학기에 의해 측정된 이미지를 Stitching 기술과 B-Spline 보간법에 의해 보다 빠르고, 정밀한 복원 기법을 제안한다. 이를 위해 먼저 각각의 이미지로부터 매칭, 피매칭 템플릿(Template)을 검출한다. 그런 다음 두 이미지의 오버랩(Overlap)되는 부분을 기준하여 기준면으로부터 roll, pitch, yaw 오차를 계산하여 매칭시킨다. 마지막으로, B-Spline 보간법에 의해 매칭된 부분을 연속화한다. 제안된 방법은 실험을 통해 그 응용 가능성을 증명한다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2007년도 춘계학술대회논문집
• /
• pp.1074-1079
• /
• 2007

We will introduce speech/speaker recognition algorithm for the isolated word. In general case of speaker verification, Gaussian Mixture Model (GMM) is used to model the feature vectors of reference speech signals. On the other hand, Dynamic Time Warping (DTW) based template matching technique was proposed for the isolated word recognition in several years ago. We combine these two different concepts in a single method and then implement in a real time speaker/speech recognition system. Using our proposed method, it is guaranteed that a small number of reference speeches (5 or 6 times training) are enough to make reference model to satisfy 90% of recognition performance.

• 한국소음진동공학회논문집
• /
• 제18권12호
• /
• pp.1229-1236
• /
• 2008

A set of modal parameters of a stay-cable have been extracted fi:on a moving picture captured by a digital camera supported by shaking hands. It is hard to identify the center of targets attached on the cable surface from the blurred cable motion image, because of the high speed motion of cable, low sampling frequency of camera, and the shaking effect of camera. This study proposes a multi-template matching algorithm to resolve such difficulties. In addition, a sensitivity-based system identification algorithm is introduced to extract the natural frequencies and damping ratios from the ambient cable vibration data. Three sets of vibration tests are conducted to examine the validity of the proposed algorithms. The results show that the proposed technique is pretty feasible for extracting modal parameters from the severely shaking motion pictures.

• 한국항행학회논문지
• /
• 제13권1호
• /
• pp.126-133
• /
• 2009

본 논문에서는 마커 없이 증강 현실을 구현하기 위한 물체 인식 기법을 제안한다. 먼저 SIFT(Scale Invariant Feature Transform)알고리즘을 사용하여 물체 영상으로부터 특징점을 찾는데, 이러한 특징점들은 비율, 회전 또는 이동시에도 그 특징이 변하지 않는 장점이 있다. 또한 조도의 변화에도 일부는 변화지 않는 특성을 갖는다. 추출된 특징점의 독립적인 특성을 이용해 화면내의 다른 이미지의 매칭 포인트를 찾을 수 있는데, 학습된 영상과 매칭이 이루어지면, 매칭된 점을 이용해 화면내의 물체를 찾는다. 본 논문에서는 장면의 첫 프레임에서 발생하는 템플릿 이미지와의 매칭을 통해 현재의 화면에서 물체를 인식하였다. 네 종류의 물체에 대해 인식 실험을 한 결과 제안한 방법이 우수한 성능을 갖는 것을 확인하였다.

• 동력기계공학회지
• /
• 제11권4호
• /
• pp.103-108
• /
• 2007

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. Especially, in this paper, the image sensor is used to measures the motions of the spreader and the measured data are fed back to the controller in real time. The applied image processing technique is a kind of robust template matching method which is named Vector Code Correlation (VCC) and devised to consider the real environmental conditions. And the $H_{\infty}$ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed measurement system based on image sensor and control system is useful and robust to disturbances.

• 제어로봇시스템학회논문지
• /
• 제22권10호
• /
• pp.839-846
• /
• 2016

Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.

• 전자공학회논문지C
• /
• 제35C권2호
• /
• pp.29-35
• /
• 1998

This paper describes architectures and design of a SIMD type parallel image processing chip called SliM-II. The chiphas a linear array of 64 processing elements (PEs), operates at 30 MHz in the worst case simulation and gives at least 1.92 GIPS. In contrast to existing array processors, such as IMAP, MGAP-2, VIP, etc., each PE has a multiplier that is quite effective for convolution, template matching, etc. The instruction set can execute an ALU operation, data I/O, and inter-PE communication simulataneously in a single instruction cycle. In addition, during the ALU/multiplier operation, SliM-II provides parallel move between the register file and on-chip memory as in DSP chips, SliM-II can greatly reduce the inter-PE communication overhead, due to the idea a sliding, which is a technique of overlapping inter-PE communication with computation. Moreover, the bandwidth of data I/O and inter-PE communication increases due to bit-parallel data paths. We used the COMPASS$^{TM}$ 3.3 V 0.6.$\mu$m standrd cell library (v8r4.10). The total number of transistors is about 1.5 muillions, the core size is 13.2 * 13.0 mm$^{2}$ and the package type is 208 pin PQ2 (Power Quad 2). The performance evaluation shows that, compared to a existing array processors, a proposed architeture gives a significant improvement for algorithms requiring multiplications.s.

• 대한의용생체공학회:의공학회지
• /
• 제35권2호
• /
• pp.14-18
• /
• 2014

This study is about e-Book program based on human-computer interaction(HCI) system for physically handicapped person. By acquiring background knowledge of HCI, we know that if we use vision-based interface we can replace current computer input devices by extracting any characteristic point and tracing it. We decided betweeneyes as a characteristic point by analyzing facial input image using webcam. But because of three-dimensional structure of glasses, the person who is wearing glasses wasn't suitable for tracing between-eyes. So we changed characteristic point to the bridge of the nose after detecting between-eyes. By using this technique, we could trace rotation of head in real-time regardless of glasses. To test this program's usefulness, we conducted an experiment to analyze the test result on actual application. Consequently, we got 96.5% rate of success for controlling e-Book under proper condition by analyzing the test result of 20 subjects.