• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.197-205
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• 2014

As computer vision algorithms are developed on a continuous basis, the visual information from vision sensors has been widely used in the context of simultaneous localization and mapping (SLAM), called visual SLAM, which utilizes relative motion information between images. This research addresses a visual SLAM framework for online localization and mapping in an unstructured seabed environment that can be applied to a low-cost unmanned underwater vehicle equipped with a single monocular camera as a major measurement sensor. Typically, an image motion model with a predefined dimensionality can be corrupted by errors due to the violation of the model assumptions, which may lead to performance degradation of the visual SLAM estimation. To deal with the erroneous image motion model, this study employs a local bundle optimization (LBO) scheme when a closed loop is detected. The results of comparison between visual SLAM estimation with LBO and the other case are presented to validate the effectiveness of the proposed methodology.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.7
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• pp.1354-1360
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• 2001

Calculated velocity distribution was used to visual information by image that is obtained from camera. The visual velocity of object that is obtained from this visual information were fused and experimented. That is, need motion of eye that motion of head that happen by external disturbance or move of camera itself to get stable image in environment that receive external disturbance can be compensated. In this treatise, algorithm that control gaze which vision and sense of equilibrium are fused in environment with external disturbance proposed, and thing that compare with that it controls gaze only that control gaze which vision and sense of equilibrium are fused in the experiment result and position deflection is few confirmed. This was because action of camera prop is effect that record conclusion error of the speed because the appearance speed is decreased being compensated by angular velocity sensor.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.9
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• pp.3357-3376
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• 2015

Wireless sensor network is an important research topic that has attracted a lot of attention in recent years. However, most of the interest has focused on wireless sensor network to gather scalar data such as temperature, humidity and vibration. Scalar data are insufficient for diverse applications such as video surveillance, target recognition and traffic monitoring. However, if we use camera sensors in wireless sensor network to collect video data which are vast in information, they can provide important visual information. Video sensor networks continue to gain interest due to their ability to collect video information for a wide range of applications in the past few years. However, how to efficiently store the massive data that reflect environmental state of different times in video sensor network and how to quickly search interested information from them are challenging issues in current research, especially when the sensor network environment is complicated. Therefore, in this paper, we propose a fast algorithm for extracting key frames from video and describe the design and implementation of key frame extraction and sharing in Android for wireless video sensor network.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.105-108
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• 1987

In this paper, a new algorithm is proposed to obtain important corner and real corner points of the simple objects and the visual robot graphics simulation using the results is studied. This is capable of performing as a debugging tool for task programming of a visual robot. And the robot motion is also simulated on a CRT terminal.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.146.3-146
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• 2001

It has been integrated into several navigation systems. This paper shows that system recognizes difficult indoor roads and open area without any specific mark such as painted guide tine or tape. In this method, Robot navigates with visual sensors, which uses visual information to navigate itself along the road. An Artificial Neural Network System was used to decide where to move. It is designed with USB web camera as visual sensor.

• Journal of Digital Convergence
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• v.14 no.8
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• pp.261-267
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• 2016

In this paper, we studied the range-free localization algorithm between sensor nodes based on the Radical Line for sensor networks. Routing in wireless sensor networks should reduce the overall energy consumption of the sensor network, or induce equivalent energy consumption of all the sensor nodes. In particular, when the amount of data to send more data, the energy consumption becomes worse. New methods have been proposed to address this. So as to allow evenly control the overall energy consumption. For this, the paper covers designing a localization algorithm that can obtain the location information of the peripheral nodes with fewer operations. For the operation of the algorithm is applicable Radical Line. The experimental environment is windows 7, the Visual C ++ 2010, MSSQL 2008. The experimental results could be localized to perform an error rate of 0.1837.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.179-185
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• 2001

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris number was investigated. Throughout the repeated experiments, the shutter speed was set at 1-milisecond for minimizing the effect of spatters on the image, and therefore most of the spatter trace in the image have been found to be reduced. Region of interest was defined from the entire image and gray level of searched laser line was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line was within $^\pm$15$^\circ$from the longitudinal straight fine, the system constructed in this study could track the weld line successful1y. Since the processing time reduced to 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.135-138
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• 2009

G-Sensor is being used for controlling motion of smart-phone and robot. G-Sensor can control motion to several direction, because it is composed of X, Y, and Z axis and also can be used on many mobile-phone by using Wi-Fi communication and RS-232C communication on the Bluetooth module. In this research, we suggest the application that realize and develop visual-vehicle-remote-control-system by using mobile-phone with G-Sensor so that drivers can more easily remote control and manage their vehicle with mobile-phone in real-time visual.

• Journal of the Society of Disaster Information
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• v.16 no.2
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• pp.374-382
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• 2020

Purpose: Recently, structural defects in old safety management facilities have led to the collapse of buildings and facilities. The purpose of this study is to develop guidelines for the installation of regular monitoring systems that determine the optimal sensor location for monitoring exhibition space building sensors equipped with visual elements in order to analyze the risk signs of exhibition space buildings and develop measurement technology. Method: The components, installation locations, alarm criteria, and management measures of the instrument are presented. Result: A measure was proposed to determine the location of sensors, secure signal processing technology for analysis by having unified visual perception, and configure optimal 'risk sign detection' based on sensor monitoring through test-bed operation. Conclusion: The results of this study can be prepared against the disasters that may arise from the collapse of exhibition buildings, and contribute to strengthening safety management capabilities.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.8
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• pp.1453-1463
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• 1994

Recently many robot manipulators are used for various areas of industriesand factories. It has been frequently observed that the robot manipulator fails to complete the function when the object changes its original position, Due to the unexpected impacts and vibrations the center and direction of the object would be shifted in many real application. In this study, a visual sensing algorithm for the robot manipulator is proposed. The algorithm consists of two parts : Detection of the object migration and adjustments of the orobot manipulators Tool Coordinate System. The image filtering technique with visual sensor is applied for the first part of the algorithm. The change of illumination intensity indicates the object migration. Once the object migration is detected, the second part of the algorithm calculates the current position of the object. Then it adjusts the robot manipulators Tool Coordinate System. The robot manipulator and the Visual sensor communicate each other using interrupt technique via proposed algorithm. It has been observed that the proposed algorithm reduces the malfunction of a robot manipulator significantly. Thus it can provide better line balance-up of the manufacturing processes and prevent industrial accidents efficiently.