• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.375-381
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• 2011

This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2312-2314
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• 1998

To improve the visual servoing performance, several strategies were proposed in the past such as redundant feature points, using a point with different height and weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and object. And redundant feature points require much computation efforts. This paper proposes the visual servoing m based on the disturbance observer, which compe the upper off-diagonal component of image fe Jacobian to be null. The performance indices su sensitivity for a measure of richness, sensitiv the control to noise, and controllability are sho improved when the image feature Jacobian is giv a block diagonal matrix. Computer simulation carried out for a PUMA560 robot and show results to verify the effectiveness of the pro method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3077-3079
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• 1999

A visual servoing method has been proposed based on disturbance observer to eliminate the effect of the off-diagonal component of image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed where Samsung FARAMAN-ASl 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilized the disturbance observer loop by saturating the differential changes of the image features.

• 한국생산제조학회지
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• 제24권4호
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• pp.455-462
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• 2015

A feature line is a visually noticeable creased line on outer automotive panels. Feature lines play an important role in creating a good impression of a car. Even though the manufacturing quality of feature lines is important, it is difficult to achieve the designed shape owing to the springback of sheet metal. The current study presents five methods of making samples that will be used in a visual experiment to discover a quality control quantitative manufacturing allowance for feature lines. Measurement and inspection methods for the samples are also presented. The results show that plunge machining is the most accurate way to make the desired shape, and that wrapping the machined surface with sheet film is an appropriate way to emulate the roughness and visual texture of the painted outer panels of a car.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.79-82
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• 2015

이미지를 분류하고 검색하는 기술(Image retrieval)중 하나인 Bag of visual words(BoVW)는 특징점(feature point)을 이용하는 방법으로 데이터베이스의 이미지 특징벡터들의 분포를 통해 쿼리 이미지를 자동으로 분류하고 검색해주는 시스템이다. Words를 구성하는데 특징벡터만을 이용하는 기존의 방법은 이용자가 원하지 않는 이미지를 검색하거나 분류할 수 있다. 이러한 단점을 해결하기 위해 특징벡터뿐만 아니라 이미지의 전체적인 분위기를 표현할 수 있는 색상정보나 반복되는 패턴 정보를 표현할 수 있는 텍스처 정보를 Words를 구성하는데 포함시킴으로서 다양한 검색을 가능하게 한다. 실험 부분에서는 특징정보만을 가진 words를 이용해 이미지를 분류한 결과와 색상정보와 텍스처 정보가 추가된 words를 가지고 이미지를 분류한 결과를 비교하였고 새로운 방법은 80~90%의 정확도를 나타내었다.

• 감성과학
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• 제24권2호
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• pp.57-64
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• 2021

It has long been speculated that the visual system should use a coding strategy that takes advantage of statistical redundancies in images. But how such a coding strategy should manifest in neural responses has been less clear. Low-level image structure related to the power spectrum of natural images appears to be captured by a hard-wired efficient code in the retina of the fly and precortical structures like the LGN of cats that maximizes information content through the limited capacity channel of the optic nerve. But visual images are typically filled with higher-order structure beyond that captured by the power spectrum and visual cortex is not constrained by the same capacity limits as the optic nerve. Whether and how visual cortex can flexibly code for higher order redundancies is unknown. Here we show using psychophysical techniques that the neural response in early human visual cortex may be modulated by orientation redundancies in images such that a visual feature that is contained within a predictive pattern results in slower reaction times than a feature that deviates from a pattern, suggesting lower neural responses to predictable stimuli in the visual cortex. Our results point to a neural response in early visual cortex that is sensitive to global patterns and redundancies in visual images and is in marked contrast to standard models of cortical visual processing.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.2108-2111
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• 2003

This paper introduces a new local feature extraction method and image matching method for the localization and classification of targets. Proposed method is based on the block-by-block projection associated with directional pattern of blocks. Each pattern has its own eigen-vertors called as CEBs(Classified Eigen-Blocks). Also proposed block-based image matching method is robust to translation and occlusion. Performance of proposed feature extraction and matching method is verified by the face localization and FLIR-vehicle-image classification test.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.19-21
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• 2004

In many cases, human's visual recognition depends on contextual information. We need to use effective feature information for performing vigorous place recognition to illumination, noise, etc. In the existing cases that use edge and color, etc., visual recognition doesn't cope effectively with real environment. To solve this problem, using natural marker, we improve the efficiency of place recognition.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.403-410
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• 2016

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

• 인지과학
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• 제35권1호
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• pp.1-21
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• 2024

본 연구는 두 가지 이론적 모델인 통합된 객체 모형과 특장 병렬-독립 저장 모형을 검증함으로써 시각작업기억 표상의 특성을 조사하였다. 실험 I에서 참가자들은 색상 사각형, 방위 막대 또는 두 가지 모두로 구성된 배열을 기억한 뒤 이를 토대로 변화탐지과제를 수행했다. 단일 특징 조건에서 기억배열은 하나의 특징(방위 또는 색상)으로만 구성된 반면, 두 가지 특징 조건은 둘 모두를 포함했다. 두 조건간 변화탐지 수행의 차이는 없었으며 이는 병렬-독립 저장 모형보다는 통합된 객체 모형을 지지한다. 실험 II에서는 이등변삼각형의 방위, 색상 사각형 또는 두 특징 모두로 구성된 기억배열을 대상으로 회상과제가 실시되었으며, 단일 특징과 두 가지 특징 조건 간 회상 수행이 비교되었다. 두 조건 간 회상 정확도에는 차이가 없었으나 표상 선명도와 추측반응에 대한 분석 결과는 강한 객체 모형보다는 약한 객체 모형을 시사했다. 본 연구의 결과는 시각작업기억의 표상 특성을 둘러싼 현시점의 논쟁에 있어서 병렬-독립 저장 모형이 아닌 통합된 객체 모형의 우세를 지지한다.