• Korean Institute of Interior Design Journal
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• no.38
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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.

• Korean Institute of Interior Design Journal
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• v.13 no.5
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• pp.56-65
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• 2004

This study divides the expression techniques of Zaha Hadid into various types who has manipulated her targeted drawings as her unique design tools in the process of architectural design, analyzes them in terms of the vanishing point, visual point for observation and object of observation and attempts to figure out how the multi-visual expression is applied in the conception of form and space and method of observation. By doing so, this study will suggest the characteristics of the expression techniques using multi-visual. Through the above study, the utilization and characteristics of multi-visual expression of the architecture design process of Zaha Hadid are summarized as follows. Firstly, Zaha Hadid utilizes the strained multi-visual perspective technique which can look out over the interaction between masses simultaneously at multi-angles by changing a perspective drawing of vanishing point 1, 2, and 3. Secondly, it utilizes a landscape perspective technique and embodies an Idea of landscape's spatial arrangement through it as the means to search a dynamic relation of architecture, city, land, and space. Thirdly, there is a projected expression using X-ray perspective technique to make the relations between inside and outside of building to three-dimension volume. Zaha Hadid has used the expression techniques using multi-visual by utilizing various points and has developed and used them as her creative tools for idea. By means of escaping from the expression techniques of simple revival, she has used a new expression technique that can represent recognized space. In the past, the content could change the expression techniques in architecture; however, the liberation of architectural expression techniques can change the content in modern times when require new attempts.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.403-403
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• 2000

Generally estimation of driving direction uses the way which uses lane detection and vanishing point in autonomous-driving system. Especially we use Sub-window for decreasing Process time when we detect lane, but fixed sub-window can not detect lane because of some factors in road image. So we suggest algorithm using one-dimension line scan method to detect an exact position of lane.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.367-370
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• 2013

단일 영상에서 3차원 정보를 획득하기 위해 가장 많이 사용되는 단서로는 소실점이 있다. 본 논문에서는 소실점을 추정하기 위해서 허프변환을 사용하여, 단일 영상의 소실점 탐색 시 유효 직선간의 기울기 값 비교 및 근접도를 구하여 교점 생성에 필요 없는 정보를 제거함으로서 소실점 추정 정확도를 높인 보다 정확한 소실점 탐색 기법을 제안하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.277-285
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• 2010

This paper describes an approach to analyze geometrical information of building images for understanding outdoor environment of autonomous navigation robot. Line segments and color information are used to classily a building with the other objects such as sky, trees, and roads. The line segments and their two neighboring regions are extracted from detected edges in image. The model of line segment (MLS) consists of color information of neighbor regions. This model rules out the line segments of non-building face. A building face converges into dominant vanishing points (DVPs) which include one vertical point and one of five horizontal points in maximum. The intersection of vertical and horizontal lines creates a facet of building. The geometrical characteristics such as the center coordinates, area, aspect ratio and aligned coexistence are used for extracting the windows in the building facet. In experiments, 150 building faces and 1607 windows were detected from the database of outdoor environment. We found that this result shows 94.46% detection rate. These experimental images were all taken in Ulsan metropolitan city in Korea under difference of viewpoints, daytime, camera system and weather condition.

• The Journal of the Korea Contents Association
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• v.11 no.4
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• pp.11-17
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• 2011

This paper aims to realize the information of a subject existing in a still image with objective values. To attain the goal, this research takes the vanishing point that a 2D still image has as the basis and recomposes the still image into a 3D image using a 3D program. Also, in order to set up the axis of the camera necessary to recompose a 3D image, this paper used the lens angle of view that the image has and floor patterns as well. The 3D image completed in this way can measure the size and distance of all subjects in the floor patterns if the size value of a particular reference subject is known, and through this, it can be possible to acquire basic information of a subject that can be either a criminal or a clue in the images of CCTVs or some criminal scene.

• Journal of Korea Multimedia Society
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• v.16 no.11
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• pp.1288-1296
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• 2013

The prominent line at the singe image is the important fact for understanding spatial structure or estimating aesthetic scoring. According to this thesis, the abstraction of the background line helps analyzing vanishing point, reconstitution of 3 dimensions, and determining of image sloppiness. It also makes easy to calculate the rule of thirds. This thesis is composed of section hough transform mapping, prioritizing of the prominent line, and selection of the prominent line. These technologies are departmentalized to be applied abstraction of traffic lane, analyzing of building structure, abstraction of vanishing point, and abstraction of straight line documentation. This gives the choice that users are able to compose technology by considering characteristic of objects and luminous environment. This thesis also can be applied to abstract circle. The interval hough transform is able to select the number of prominent line which users want to abstract. It can analyze important prominent line numbers at the image and then abstract the lines, too. Results of prominent lines by experiments would be show at this thesis.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.577-582
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based Wheeled Mobile Robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps has a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. Data set between position of WMR and features of lamps are configured. Neural network are composed and teamed with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• Journal of Korea Multimedia Society
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• v.13 no.5
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• pp.651-662
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• 2010

This paper describes a method to identify objects for autonomous navigation of an outdoor mobile robot. To identify objects, the robot recognizes the object from an image taken by moving robot on outdoor environment. As a beginning, this paper presents the candidates for a segment of region to building of artificial object, sky and trees of natural objects. Then we define their characteristics individually. In the process, we segment the regions of the objects included by preprocessing using multiple features. Multiple features are HSI, line segments, context information, hue co-occurrence matrix, principal components and vanishing point. An analysis of building identifies the geometrical properties of building facet such as wall region, windows and entrance. The building as intersection in vertical and horizontal line segment of vanishing point extracts the mesh. The wall region of building detect by merging the mesh of the neighbor parallelograms that have similar colors. The property estimates the number of story and rooms in the same floors by merging skewed parallelograms of the same color. We accomplish the result of image segmentation using multiple features and the geometrical properties analysis of object through experiments.