• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.120-128
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• 2012

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

• The Journal of Art Theory & Practice
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• no.7
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• pp.165-188
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• 2009

In the development of linear perspective, Brook Taylor's theory has achieved a special position. With his method described in Linear Perspective(1715) and New Principles of Linear Perspective(1719), the subject of linear perspective became a generalized and abstract theory rather than a practical method for painters. He is known to be the first who used the term 'vanishing point'. Although a similar concept has been used form the early stage of Renaissance linear perspective, he developed a new method of British perspective technique of measure points based on the concept of 'vanishing points'. In the 15th and 16th century linear perspective, pictorial space is considered as independent space detached from the outer world. Albertian method of linear perspective is to construct a pavement on the picture in accordance with the centric point where the centric ray of the visual pyramid strikes the picture plane. Comparison to this traditional method, Taylor established the concent of a vanishing point (and a vanishing line), namely, the point (and the line) where a line (and a plane) through the eye point parallel to the considered line (and the plane) meets the picture plane. In the traditional situation like in Albertian method, the picture plane was assumed to be vertical and the center of the picture usually corresponded with the vanishing point. On the other hand, Taylor emphasized the role of vanishing points, and as a result, his method entered the domain of projective geometry rather than Euclidean geometry. For Taylor's theory was highly abstract and difficult to apply for the practitioners, there appeared many perspective treatises based on his theory in England since 1740s. Joshua Kirby's Dr. Brook Taylor's Method of Perspective Made Easy, Both in Theory and Practice(1754) was one of the most popular treatises among these posterior writings. As a well-known painter of the 18th century English society and perspective professor of the St. Martin's Lane Academy, Kirby tried to bridge the gap between the practice of the artists and the mathematical theory of Taylor. Trying to ease the common readers into Taylor's method, Kirby somehow abbreviated and even omitted several crucial parts of Taylor's ideas, especially concerning to the inverse problems of perspective projection. Taylor's theory and Kirby's handbook reveal us that the development of linear perspective in European society entered a transitional phase in the 18th century. In the European tradition, linear perspective means a representational system to indicated the three-dimensional nature of space and the image of objects on the two-dimensional surface, using the central projection method. However, Taylor and following scholars converted linear perspective as a complete mathematical and abstract theory. Such a development was also due to concern and interest of contemporary artists toward new visions of infinite space and kaleidoscopic phenomena of visual perception.

• ETRI Journal
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• v.28 no.6
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• pp.819-821
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• 2006

Log-polar coordinate image space is proposed as a solution for the problem of unbounded accumulator space in the automatic detection of vanishing points. The proposed method can detect vanishing points at high speed under small memory requirements, as opposed to conventional image space based methods.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.6
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• pp.413-422
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• 2013

In this paper, we propose a novel method for real-time lane detection that is robust for inclined roads and not require a camera parameter, the Inverse Perspective Transform of the image, and the proposed lane filter. After finding the vanishing point from the start frame of the image and storing the region surrounding the vanishing point as the Template Area(TA), our method predict the lanes by scanning toward the lower part from the vanishing point of the image and obtain the image removed the perspective effect using the Inverse Perspective Transform coefficients extracted based on the predicted lanes. To robustly determine lanes on inclined roads, the region surrounding the vanishing point is set up as the template area (TA), and, by recalculating the vanishing point by tracing the area similar to the TA (SA) in the input image through template matching, it responds to the changes on the road conditions. The proposed method for a more robust lane detection method for inclined roads is a lane detection method by applying a lane detection filter on an image removed of the perspective effect. Through this method, the processing region is reduced and the processing procedure is simplified to produce a satisfactory lane detection result of about 40 frames per second.

• Journal of the Korea Society of Computer and Information
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• v.28 no.1
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• pp.93-101
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• 2023

In this paper, we propose a method of creating a 3D bounding box for an object using a vanishing point to increase the accuracy of object recognition in an image when recognizing an traffic object using a video camera. Recently, when vehicles captured by a traffic video camera is to be detected using artificial intelligence, this 3D bounding box generation algorithm is applied. The vertical vanishing point (VP1) and horizontal vanishing point (VP2) are derived by analyzing the camera installation angle and the direction of the image captured by the camera, and based on this, the moving object in the video subject to analysis is specified. If this algorithm is applied, it is easy to detect object information such as the location, type, and size of the detected object, and when applied to a moving type such as a car, it is tracked to determine the location, coordinates, movement speed, and direction of each object by tracking it. Able to know. As a result of application to actual roads, tracking improved by 10%, in particular, the recognition rate and tracking of shaded areas (extremely small vehicle parts hidden by large cars) improved by 100%, and traffic data analysis accuracy was improved.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.508-510
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• 2004

In this paper, we proposed the GPS position data correction method for autonomous land navigation using vanishing point property and a monocular vision system. Simulations are carried out over driving distances of approximately 60 km on the basis of realistic road data. In straight road, the proposed method reduces GPS position error to minimum more than 63% and positioning errors within less than 0.5m are observed. However, the average accuracy of the method is not presented. because it is difficult to estimate it in curve road or other road environments.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.6
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• pp.187-193
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• 2004

In this paper, we proposed the GPS position data correction method for autonomous land navigation using vanishing point property and a monocular vision system. Simulations are carried out over driving distances of approximately 60 km on the basis of realistic road data. On a straight road, the proposed method reduces GPS position error by at least 63% within 0.5 m. However, the average accuracy of the method is not presented, because it is difficult to estimate it on other than a straight road in variable conditions.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.12C
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• pp.1652-1659
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• 2004

In this paper, we propose the algorithm that automatically measures the height of the object to move on the base plane by using the geometric information. To extract a moving object from real-time images creates the background image and each pixel is modeled by the three values. The extracted region is represented by cardboard model and calculates the coordinate center in the each part. The top and bottom point of an object are extracted by the calculated coordinate center and an iterative computation. The two points, top and bottom, are used for measuring the height. Given the vanishing line of the ground plane, the vertical vanishing point, and at least one reference height in the scene; then the height of any point from the ground may be computed by specifying the image of the point and the image of the vertical intersection with the ground plane at that point. Through a confidence valuation of the height to be measured, we confirmed similar actual height and result in the simulation experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.82-82
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• 2000

The way which estimates a position from Navigation is Dead-reckoning Navigation and Radio Navigation. Generally dead-reckoning navigation uses Gyro and odometer as sensor, but these have problems which are an integrating noise and a noise-sensitivity. Gps which is used by radio-navigation has a Troposthetic error and MultiPath ewer and so on. For minimizing a Troposthetic error and a Multipath error, this paper suggests to an algorithm which use vanishing point on CCD camera.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1758-1763
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• 1991

This paper describes a new method to determine the 3D-shape of objects consisting of specular planar surfaces. This method exploits a light source which is made of a diffuse plane with a grid pattern encoded in an M-sequence and uses a single image of the light source reflected by the objects to acquiring orientations and positions of the surfaces of the objects. When grid lines of the light source are reflected by a specular planar surface and perspectively projected on an image plane, a set of lines vanishing at a point are obtained on the image plane. The orientation of the specular planar surface is determined by using the vanishing point, and the position is determined by using the correspondence between lines on the image and lines on the light source, which is obtained by employing a characteristic regularity of the M-sequence. Before the vanishing points are calculated, the lines on the image are classified and correlated with the surfaces of objects by using slopes and positions of the lines and the regularity of the M-sequence. This method requires only a single image.