• Journal of the Society of Disaster Information
• /
• v.10 no.1
• /
• pp.105-115
• /
• 2014

In this research, we developed video analytic algorithms to detect water-level automatically and a system for proactive alarming using intelligent CCTV cameras. We applied these algorithms and a system to test-beds and verified for practical use. We made camera-selection policies and operation plans to keep the detection accuracy high and to optimize the suitability for the ever-changing weather condition, while the environmental factors such as camera shaking and weather condition can affect to detection accuracy. The estimation result of algorithms showed 90% detection accuracy for all CCTV camera types. For water level detection, NIR camera performed great. NIR camera performed over 95% accuracy in day or night, suitable in natural weather condition such as shaking condition, fog, and low light, needs similar installment skills with common cameras, and spends only 15% high cost. As a result, we practically tested water level detection algorithms and operation system based on intelligent CCTV camera. Furthermore, we expect the positive evidences when it is applied for public use.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.22 no.6
• /
• pp.404-412
• /
• 2010

The purpose of this study is to accomplished an in-site evaluation method for existing building insulation status using Infra-red camera and to consider improvement performance to prevent condensation and draw the optimum insulation design method for building using simulation tool. The research contents of this study are to evaluate validity and suitability of building insulation defect survey using Infra-red camera for apartment housing with temperature and heat flow pattern analyze method. Based on this research, the three corners, weak part in condensation, were selected in apartment building and conducted simulation by three-dimensional steady state. From the results, it is required to strengthen insulation design, and it is founded that existing insulation system typically applied to most Korean apartment housings have serious insulation defect that insulation is disconnected by structural components at the joints of wall-slab and wall-wall in envelope. Thus, it is considerate to need a concrete technology improvement.

• Journal of Forest and Environmental Science
• /
• v.33 no.3
• /
• pp.239-242
• /
• 2017

Although camera traps have been widely used to understand the abundance of wildlife in recent decades, the effort has been restricted to small sub-set of wildlife which can mark-and-recapture. The Random Encounter Model shows an alternative approach to estimate the absolute abundance from camera trap detection rate for any animals without the need for individual recognition. Our study aims to examine the feasibility and validity of the Random Encounter Model for the density estimation of endangered leopard cats (Prionailurus bengalensis) in Maekdo riparian park, Busan, South Korea. According to the model, the estimated leopard cat density was $1.76km^{-2}$ (CI 95%, 0.74-3.49), which indicated 2.46 leopard cats in $1.4km^2$ of our study area. This estimate was not statistically different from the previous leopard cat population count ($2.33{\pm}0.58$) in the same area. As follows, our research demonstrated the application and usefulness of the Random Encounter Model in density estimation of unmarked wildlife which helps to manage and protect the target species with a better understanding of their status.

• Journal of the Korea Society of Computer and Information
• /
• v.21 no.12
• /
• pp.35-41
• /
• 2016

In this paper, we propose a new real-time dead pixel detection method based on spatial compare filtering, which are usually used in the small target detection. Actually, the soft dead and the small target are cast in the same mold. Our proposed method detect and remove the dead pixels as applying the spatial compare filtering, into the pixel outputs of a detector after the non-uniformity correction. Therefore, we proposed method can effectively detect and replace the dead pixels regardless of the non-uniformity correction performance. In infrared camera, there are usually many dead detector pixels which produce abnormal output caused by manufactural process or operational environment. There are two kind of dead pixel. one is hard dead pixel which electronically generate abnormal outputs and other is soft dead pixel which changed and generated abnormal outputs by the planning process. Infrared camera have to perform non-uniformity correction because of structural and material properties of infrared detector. The hard dead pixels whose offset values obtained by non-uniformity correction are much larger or smaller than the average can be detected easily as dead pixels. However, some dead pixels(soft dead pixel) can remain, because of the difficulty of uncleared decision whether normal pixel or abnormal pixel.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.9
• /
• pp.825-832
• /
• 2004

A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.22 no.2
• /
• pp.127-135
• /
• 2004

The calibration of lens to be used and the planning of photographing planning layout is very important to achieve the requested accuracy in the precision measurement by close-range photogrammetry. Establishment of absolute coordinate system is regarded as another important factor for the purpose of measuring absolute deformation of photogrammetric object. In this study, the following tasks were performed : (1) calibration of super-wide-angle lens or focal length 21mm fer close-range photographing used by 35mm metric camera, (2) development of the measuring system for monitoring of absolute deformation through periodic observation of small area, and, (3) application of this system to monitor the absolute deformation of surface of underwater structure in fixed cycle and to present the efficiency of the system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.256-261
• /
• 2005

In this research, we propose a path-planning algorithm for an autonomous mobile robot using geographical information, under the condition that the robot moves in unknown environment. All image inputted by camera at every sampling time are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. The geographical information was transformed into 1-dimensional evaluation value that expressed the difficulty of movement for the robot. The robot goes toward the goal searching for path that minimizes the evaluation value at every sampling time. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. We used a sensor fusion method for improving the mobile robot dead reckoning accuracy. The experiment results that confirm the effectiveness of the proposed algorithm on the robot's reaching the goal successfully using geographical information are presented.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.1
• /
• pp.105-110
• /
• 2009

In this paper, we proposed a navigation algorithm of the mobile robot for obstacle avoidance using a circular path planning method. The proposed method makes circular paths in order to avoid obstacles in the front side of the mobile robot. An optimal path for approaching to the target is selected and the linear and angular speeds for stable moving of the mobile robot are controlled. Obstacles are detected by image processing which reduce image data obtained from a web camera. Performance of the proposed algorithm is shown by experiments with application to the Pioneer-2DX mobile robot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.8
• /
• pp.696-702
• /
• 2004

An optimal trajectory generation algorithm for capturing a moving object by a mobile robot in real-time is proposed in this paper. The linear and rotational velocities of the moving object are estimated using the Kalman filter, as a state estimator. For the estimation, the moving object is tracked by a 2-DOF active camera mounted on the mobile robot, which enables a mobile manipulator to track the mobile robot until the capturing moment. The optimal trajectory for capturing the moving object is dependent on the initial conditions of the mobile robot as well as the moving object. Therefore, real-time trajectory planning for the mobile robot is definitely required for the successful capturing of the moving object. The performance of proposed algorithm is verified through the real experiments and the superiority is demonstrated by comparing to other algorithms.

• Journal of Auto-vehicle Safety Association
• /
• v.11 no.3
• /
• pp.37-42
• /
• 2019

This paper presents an autonomous acceleration planning algorithm for pedestrian collision avoidance at urban. Various scenarios between pedestrians and a vehicle are designed to maneuver the planning algorithm. To simulate the scenarios, we analyze pedestrian's behavior and identify limitations of fusion sensors, lidar and vision camera. Acceleration is optimally determined by considering TTC (Time To Collision) and pedestrian's intention. Pedestrian's crossing intention is estimated for quick control decision to minimize full-braking situation, based on their velocity and position change. Feasibility of the proposed algorithm is verified by simulations using Carsim and Simulink, and comparisons with actual driving data.