• 한국실내디자인학회논문집
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• 제38호
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• pp.48-56
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• 2003

This study is purposed to find the transition of the perspective connected with visual modality. The perspective based on Greek optics and euclidean geometry and rediscovered in Renaissance represents the object according to the particular moment and the point of view, is a principal fact which affect architecture, the form of a city and the spatial organization and symbolizes an ideal of the times. It embodied perception which treats the space rationally on the basis of realism and became visual modality based on the separation of the seeing subject and the world of the object. The point of view became one with the vanishing point which made up the shape and after Renaissance for four hundred years a straight line, a right angle and a circle got to be favorite geometrical choices in architecture. A fixed point of view of the subject is getting to change and break up fundamentally by the new visual technologies of the modem times.

• 한국멀티미디어학회논문지
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• 제13권5호
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• pp.651-662
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• 2010

본 연구는 외부환경에서 자율주행 로봇을 위해 중요한 물체를 찾기 위한 방법을 설명한다. 외부환경의 물체를 찾기 위해서 먼저 로봇은 외부환경에서 주행할 때 획득한 영상으로부터 물체를 검출하고 분할한다. 로봇은 물체의 후보를 자연물의 하늘과 나무로, 인공물의 빌딩으로 나눈다. 후보 물체를 분할하기 위해서 다중 특징을 이용한다. 다중 특징은 색상, 선분, 상황정보, 동시발생 행렬, 소실점 및 주요한 요소성분을 이용한다. 후보 특징은 물체의 특성에 맞게 혼합하여 물체를 분할한다. 이런 다중 특징은 물체에 대한 공간정보, 인간의 선험적인 지식을 이용한 물체의 기하학 정보, 공간적인 주파수 등으로 다양한 특징 추출 방법을 이용하여 물체의 영역분할의 결과를 얻는다. 물체의 분석은 분할된 영역을 이용하여 벽 영역, 창문, 정문과 같은 빌딩면의 기하학적인 속성을 찾는다. 빌딩은 소실점의 수직선분과 수평선분을 교차함으로써 그물을 얻는다. 빌딩의 벽 영역은 유사한 색상을 가지는 이웃해 있는 평행사변형의 그물을 합병해서 검출한다. 창문은 층의 수와 동일한 층에 있는 방의 수를 추정하여 빌딩의 높이와 크기를 추정한다. 실험에서 다중 특징을 이용하여 물체의 영역을 분할하고 빌딩의 기하학적인 속성을 이용하여 물체를 분석한다.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.550-557
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• 1999

This paper describes a road-following controller using the proposed neural network for autonomous vehicle. Road-following with visual sensor like camera requires intelligent control algorithm because analysis of relation from road image to steering control is complex. The proposed neural network, relative similarity modular network(RSMN), is composed of some learning networks and a partitioniing network. The partitioning network divides input space into multiple sections by similarity of input data. Because divided section has simlar input patterns, RSMN can learn nonlinear relation such as road-following with visual control easily. Visual control uses two criteria on road image from camera; one is position of vanishing point of road, the other is slope of vanishing line of road. The controller using neural network has input of two criteria and output of steering angle. To confirm performance of the proposed neural network controller, a software is developed to simulate vehicle dynamics, camera image generation, visual control, and road-following. Also, prototype autonomous electric vehicle is developed, and usefulness of the controller is verified by physical driving test.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2011년도 제43차 동계학술발표논문집 19권1호
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• pp.265-268
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• 2011

본 논문은 시각 장애인 및 보도 보행에 어려움을 갖는 사람들에게 안전한 보도 보행을 돕기 위한 보도 및 차도 영역 추출을 위해 보도 및 차도의 라인검출 기법을 제안한다. 사람의 눈높이에서 영상을 취득, 자연영상에서 입력된 잡음 및 노이즈를 제거하고, 캐니 에지 맵 추출, 허프 변환을 통해 보도/차도의 라인을 추출한다. 추출된 라인은 본 논문에서 제안한 방법으로 유효라인을 얻게 되며, 얻어진 유효 라인의 교점을 통해 소실점 영역을 생성, 이후 추출되는 라인의 기준이 된다. 제안된 방법은 자연영상의 보도 위치에서 보도와 차도의 올바른 라인을 추출하는데 강인함을 실험을 통해 검증하였다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2010년도 제42차 하계학술발표논문집 18권2호
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• pp.121-124
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• 2010

본 논문은 시각 장애인 및 보도 보행에 어려움을 갖는 사람들에게 안전한 보도 보행을 돕기 위한 보도 및 차도 영역 추출을 위해 보도 및 차도의 라인검출 기법을 제안한다. 사람의 눈높이에서 영상을 취득, 자연영상에서 입력된 잡음 및 노이즈를 제거하고, 캐니 에지 맵 추출, 허프 변환을 통해 보도/차도의 라인을 추출한다. 추출된 라인은 본 논문에서 제안한 방법으로 유효라인을 얻게 되며, 얻어진 유효 라인의 결합으로 삼각 표본을 생성하여 보도의 영역을 추출 하게 된다. 제안된 방법은 자연영상의 보도 위치에서 보도와 차도의 올바른 라인을 추출하는데 강인함을 실험을 통해 검증하였다.

• Journal of Information Processing Systems
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• 제2권1호
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• pp.52-57
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• 2006

One of the important functions of an Intelligent Transportation System (ITS) is to classify vehicle types using a vision system. We propose a method using machine-learning algorithms for this classification problem with 3-D object model fitting. It is also necessary to detect road lanes from a fixed traffic surveillance camera in preparation for model fitting. We apply a background mask and line analysis algorithm based on statistical measures to Hough Transform (HT) in order to remove noise and false positive road lanes. The results show that this method is quite efficient in terms of quality.

• 방송공학회논문지
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• 제2권2호
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• pp.125-135
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• 1997

This paper is concerned with realistic mainpulation of content in video sequences. Manipulation of content in video sequences is one of the content-based functionalities for MPEG-4 Visual standard. We present an approach to synthesizing video sequences by using the intermediate outputs of three-dimensional (3D) motion and depth analysis. For concreteness, we focus on video showing 3D motion of an observer relative to a scene containing planar runways (or roads). We first present a simple runway (or road) model. Then, we describe a method of identifying the runway (or road) boundary in the image using the Point of Heading Direction (PHD) which is defined as the image of, the ray along which a camera moves. The 3D motion of the camera is obtained from one of the existing 3D analysis methods. Then, a video sequence containing a runway is manipulated by (i) coloring the scene part above a vanishing line, say blue, to show sky, (ii) filling in the occluded scene parts, and (iii) overlaying the identified runway edges and placing yellow disks in them, simulating lights. Experimental results for a real video sequence are presented.

• 한국멀티미디어학회논문지
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• 제13권12호
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• pp.1855-1862
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• 2010

In virtual reality, there are increasing qualitative development in service technologies for realtime interaction system development, 3- dimensional contents, 3D TV and augment reality services. These services experience difficulties to generate depth value that is essential to recover 3D space to form solidity on existing contents. Hence, research for the generation of effective depth-map using 2D is necessary. This thesis will describe a shortcoming of an existing depth-map generation for the recovery of 3D space using 2D image and will propose an enhanced depth-map generation algorithm that complements a shortcoming of existing algorithms and utilizes the definition of depth direction based on the vanishing point within image.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.97-100
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• 1996

In this paper, we describe an algorithm which estimate road following direction using the vanishing point property and obstacle detection. This method of detecting the lane markers in a set of continuous lane highway images using linear approximation is presented. This algorithm is designed for accurate and robust extraction of this data as well as high processing speed. Also, this algorithm reckon distance and chase about an obstacle. It include four algorithms which are lane prediction, lane extraction, road following parameter estimation and obstacle detection algorithm. High accuracy was proven by quantitative evaluation using simulated images. Both robustness and the practicality of real time video rate processing were then confirmed through experiment using VTR real road images.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.465-472
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• 2009

This paper proposes a multimodal information transformation system that converts the image information to the voice information to provide the sight impaired people with walking area and obstacles, which are extracted by an acquired image from a single CCD camera. Using a chain-code line detection algorithm, the walking area is found from the vanishing point and boundary of a sidewalk on the edge image. And obstacles are detected by Gabor filter of extracting vertical lines on the walking area. The proposed system expresses the voice information of pre-defined sentences, consisting of template words which mean walking area and obstacles. The multi-modal information transformation system serves the useful voice information to the sight impaired that intend to reach their destination. The experiments of the proposed algorithm has been implemented on the indoor and outdoor environments, and verified its superiority to exactly provide walking parameters sentences.