• 산업기술연구
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• 제20권B호
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• pp.195-200
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• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2003년도 추계학술발표회 논문집
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• pp.175-180
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• 2003

This paper used Non-Metric digital video camera against subject of study, stone cultural assets such as stone pagodas, and examine an error of photographing preliminarily without re-photographing. After that, precise surveying for cultural assets can obtain enough precision of accuracy. Finally, it can be said that study also suggests the efficient and economical measurement when planning to restore prototype of cultural assets in the future and providing specific information on them

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.161-164
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• 2001

In this paper, we has been studied self controlled mobile robot system with CCD camera. This system consists of TMS320F240 digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitging between robot and host PC. This robot go straight until 95 percent filled screen from input image. And the robot recognizes obstacle about 95 percent filled something, so it could avoid the obstacle and conclude new path plan.

• 전자공학회논문지 IE
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• 제46권1호
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• pp.23-30
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• 2009

본 논문에서는 산업용 AGV 시스템의 효과적이고 지능적인 경로설정을 위한 스테레오 카메라 시스템 기반의 지능형 시각시스템을 제안하였다. 즉, 평행식 스테레오 카메라를 이용하여 좌, 우 입력 영상간의 시차지도와 깊이정보를 검출하고, AGV 시스템과 장애물간의 거리와 위치좌표인 2차원 경로좌표를 산출하여 장애물과 다른 물체들과의 상대 거리를 산출하였다. 산출된 2차원 경로좌표를 토대로 AGV 시스템의 효과적이고 지능적인 경로설정에 따라 자율적으로 주행하게 된다. 실 시간적으로 입력되는 스테레오 영상을 사용하여 실험한 결과 AGV 시스템과 전방에 존재하는 장애물간의 거리 오차가 평균 2.5%이하로 유지됨으로써 산업용 AGV 시스템의 적응적 경로설정을 위한 지능형 시각 시스템의 구현 가능성을 제시하였다.

• 대한공간정보학회지
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• 제11권4호
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• pp.13-19
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• 2003

본 연구는 비측량용 디지털 비디오 카메라를 이용하여 석조문화재인 석탑을 대상으로 촬영하였다. 비측량용 카메라인 디지털 비디오 카메라는 기존의 측량용 또는 준측량용 카메라에서 하지 못하는 방법이 있으며, 이는 촬영된 동영상을 가지고 분석하고자 하는 부분을 손쉽게 정지영상으로 취득할 수가 있었다. 비측량용인 디지털 비디오 카메라로 문화재 3차원 해석에 있어서 $2mm{\sim}4mm$의 정확도를 얻을 수 있었다. 차후 문화재 원형 보존에 대한 계획의 수행에 있어서 문화재에 대한 자세한 정보를 제공하기 위해 효율적이고 경제적인 방법을 제시하고자 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1881_1882
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• 2009

Simple quadratic potential functions for unicycle robot path planning are presented, where proposed algorithm for path planning has the different environment for each robot based on LOS(Line Of Sight) between a target and an obstacle, unlike a conventional path planning. In doing so, the proposed algorithm assumes that each swarm robot equips its own vision instead of a ceiling camera. In particular, this paper presents that each robot follows its different local leader. As a result proposed algorithm reduces local minimum problems by the help of each local leader.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.92-99
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• 2002

To obtain visual information of a target object, a camera should be placed within the visibility region. As the visibility region is dependent on the relative position of the target object and the surrounding object, the position change of the surrounding object during a task requires recalculation of the visibility region. For a fast computation of the visibility region so as to modify the camera position to be located within the visibility region, we propose a spherical projection method. After being projected onto the sphere the visibility region is represented in $\theta$-$\psi$ spaces of the spherical coordinates. The reduction of calculation space enables a fast modification of the camera location according to the motion of the surrounding objects so that the continuous observation of the target object during the task is possible.

• 한국멀티미디어학회논문지
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• 제23권8호
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• pp.1088-1098
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• 2020

This paper proposes an obstacle avoidance method using a depth polar grid. Depth information is a crucial factor for determining the safe path for collision-free navigation of unmanned aerial vehicles (UAVs) as it can perceive the distance to the obstacles effectively. However, the existing depth-camera-based approaches for obstacle avoidance require computational y expensive path planning algorithms. We propose a simple navigation method using the polar-grid of the depth information obtained from the camera with narrow field-of-view(FOV). The effectiveness of the approach was validated by a series of experiments using software-in-the-loop simulation in a realistic outdoor environment. The experimental results show that the proposed approach successfully avoids obstacles using a single depth camera with limited FOV.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.381-381
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• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is useful to detect the existence of a guideline. The wavelet transform is used to find the edge of guideline. Using wavelet transform, we can make an image processing more easily and rapidly. We make a fuzzy control rule using image data then make a decision the position and the navigation of the mobile robot. The center value that indicates the center of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy output. Some actual experiments for the mobile robot applied fuzzy control show that the mobile robot effectively moves to target position.

• 한국도로학회논문집
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• 제18권5호
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• pp.63-73
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• 2016

PURPOSES : The objective of this study was to analyze variations in the vehicle driving behavior characteristics on signalized intersections according to the use of traffic enforcement camera (red light camera). METHODS : In order to analyze the driving behavior characteristics on signalized intersections when red light camera are installed, the target sites for investigation were selected depending on whether the red light camera is installed and accident rates increased after the installation. In particular, to analyze the characteristics of dilemma zones in signalized intersections, approach speed and deceleration speed of 3 type vehicles (passing vehicles during a yellow light, stopping at a yellow light, passing vehicles during a green light) were examined. Based on these data, the starting point, ending point, and distance of the dilemma zones were calculated. Also, the locations of increased traffic accidents and decreased accidents after the installation of the equipment were distinguished when analyzing the traffic accident characteristics. RESULTS : Analysis results revealed that there was a tendency for the dilemma zone distance to decrease after the installation of equipment(red light camera) in most sites. This tendency was found to be due to the decrease in the approaching speed of vehicles at intersections after the installation of equipment, resulting in the starting and ending points of dilemma zone to become closer to the stop line. Moreover, analysis showed that the number of traffic accidents decreased for most intersections after the installation of equipment and safety of the intersections increased somewhat. CONCLUSIONS : In general, installation of equipment(red light camera) caused the intersections approaching speed and dilemma zone distance to decrease. Decision-making is difficult for drivers in the dilemma zone, so the decrease in the dilemma zone distance implies an improvement in traffic safety. Furthermore, the number of accidents within intersections significantly decreased after the equipment was installed, leading to the conclusion that installation of the equipment affected the decrease in traffic accidents.