• 대한임베디드공학회논문지
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• 제13권2호
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• pp.73-81
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• 2018

This paper describes a device platform which the blind can wear to keep path and to get surrounding information during their independent walking. Compared to the existing technologies, the proposed device could be used indoors and outdoors, and maps need not be provided in advance. It is composed of a glasses type device equipped with image sensors, and a portable device that analyzes sensor data for sighted guiding. RGB images and depth images are extracted to generate a walking map based on feature points. It also can cope with the risk of collision with bollard, color cone by applying vertical obstacle detection technology based on floor detection.

• 전자공학회논문지
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• 제50권2호
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• pp.163-173
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• 2013

본 논문에서는 스테레오 카메라를 이용하여 차량 주행 중에 만날 수 있는 도로상의 수직형 돌발 장애물과 고정 장애물을 자동으로 추출하는 기술을 제안한다. 연속된 스테레오 영상 프레임들과 각 프레임의 좌, 우 영상 사이의 차영상들을 이용하여 도로 영상의 관심영역에 대한 시차를 획득하고, 기존 수직(V) 및 수평(H) 시차지도(disparity map)와는 달리 물체의 실제 크기에 비례하는 VO(Vertical Object) 및 HO(Horizontal Object)라는 새로운 지도를 생성한다. VO 및 HO 지도를 이용하여 추출할 물체의 후보를 선정하고 선정된 후보영역간의 병합, 정제를 통하여 최종적으로 도로 상의 수직 물체들을 추출하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.141-144
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• 1996

This study deals with the problem of the recognition of the preceding vehicles by image processing. The purpose of this study is the development of the equipment to prevent a collision with preceding vehicles during driving the vehicle. In order to decrease the processing time and increase reliability, at first, the traffic lane is extracted. It is determined by detecting road edges and calculating their tangent. After the traffic lane is gotten, the position of the vehicle is searched inside the lane. The features used to detect the vehicles in the algorithm are shadow of the vehicle, vertical edges, horizontal edges, and symmetrical segment. The preceding vehicles are extracted successfully by this method.

• 한국컴퓨터정보학회논문지
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• 제23권4호
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• pp.57-64
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• 2018

In this paper, we propose the automatic detection method for individual region separation using panorama image. Finding areas that contain individual teeth is one of the most important tasks in automating 3D models through individual tooth separation. In the conventional method, the maxillary and mandibular teeth regions are separated using a straight line or a specific CT slide, and the tooth regions are separated using a straight line in the vertical direction. In the conventional method, since the teeth are arranged in a curved shape, there is a problem that each tooth region is incorrectly detected in order to generate an accurate tooth region. This is a major obstacle to automating the creation of individual tooth models. In this study, we propose a method to find the correct tooth curve by using the jawbone curve which is very similar to the tooth curve in order to overcome the problem of finding the area containing the existing tooth. We have proposed a new method to accurately set individual tooth regions using the feature that individual teeth are arranged in a direction similar to the normal direction of the tooth alignment curve. In the proposed method, the maxillary and mandibular teeth can be more precisely separated than the conventional method, and the area including the individual teeth can be accurately set. Experiments using real dental CT images demonstrate the superiority of the proposed method.

• 한국정밀공학회지
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• 제25권12호
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• pp.65-74
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• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.