• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.98.3-98
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• 2002

Vision-based systems for finding road lanes have to operate robustly under a wide variety of environ-mental conditions including large amount of scene clutters. This paper presents a method for finding the lane boundaries by combining a local line extraction method and dynamic programming as a search tool. The line extractor obtains an initial position estimation of road lane boundaries from the noisy edge fragments. Dynamic programming then improves the initial approximation to an accurate configuration of lane boundaries. Input image frame is divided into a few sub-regions along the vertical direction. The local line extractor then performs to extract candidate lines of road lanes in the...

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.229-235
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• 2003

We designed a family of completely autonomous mobile robots with local intelligence. Each robot has a number of on-board sensors, including vision, and does not rely on global positioning systems The on-board embedded controller is sufficient to analyze several low-resolution color images per second. This enables our robots to perform several complex tasks such as navigation, map generation, or providing intelligent group behavior. Not being limited to playing the game of soccer and being completely autonomous, we are also looking at a number of other interesting scenarios. The robots can communicate with each other, e.g. for exchanging positions, information about objects or just the local states they are currently in (e.g. sharing their current objectives with other robots in the group). We are particularly interested in the differences between a behavior-based approach versus a traditional control algorithm at this still very low level of action.

• 제어로봇시스템학회논문지
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• 제2권3호
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• pp.200-208
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• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권9호
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• pp.3721-3737
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• 2015

3D reconstruction based on binocular data is significant to machine vision. In our method, we propose a new and high efficiency 3D reconstruction approach by using a consumer camera aiming to: 1) address the configuration problem of dual camera in the binocular reconstruction system; 2) address stereo matching can hardly be done well problem in both time computing and precision. The kernel feature is firstly proposed in calibration stage to rectify the epipolar. Then, we segment the objects in the camera into background and foreground, for which system obtains the disparity by different method: local window matching and kernel feature-based matching. Extensive experiments demonstrate our proposed algorithm represents accurate 3D model.

• World Technopolis Review
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• 제2권1호
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• pp.32-42
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• 2013

Science and Technology Park (STP) is perceived to be a vehicle in promoting innovation-based economic growth within the framework of regional and national innovation systems. STP is a tool to encourage regional innovation and competitiveness in increasing contribution of science and technology in economic development. STP can also be a leading sector in creating conducive environment for local community's technopreneurship. In relation to the vision outlined in the 2025 Indonesian Master Plan of Acceleration and Expansion of Indonesia's Economic (MP3EI), STP is stated to be an important element in creating innovation within the framework of Special Economic Zone among six Economic Corridors. Hence, the government of Indonesia continues to encourage the development of STPs in Indonesia by involving local governments, universities, business players and stakeholders surround the area. Ultimately, STP is a platform in developing National Innovation System (NIS) and Regional Innovation System (RIS).

• International Journal of Knowledge Content Development & Technology
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• 제2권1호
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• pp.17-35
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• 2012

The city of 'G' has been made a number of achievements with its science program as a part of public library's cultural program during the last 5 years. Recently, the national science centre has been established in the same city, the debate is now needed whether the science program in the public library have reasons to be maintained or to be reduced. The aim of this research is on the operating strategies of the science program in the public library. The research methods include case studies of operational strategies in domestic and foreign science centre, the level of satisfaction of local citizen on the science program, the vision of science program in the advancement of public library in the $21^{st}$ century. In results, the research proposes that the science program in public library should be maintained, but with locally characterised programs. In addition, the study also advised on the provision of scientific information, the strengthened search functions, and the development of user-centred services for those in science fields.

• 한국멀티미디어학회논문지
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• 제21권12호
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• pp.1473-1480
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• 2018

The extraction and recognition of human motion characteristics need to combine biometrics to determine and judge human behavior in the movement and distinguish individual identities. The so-called biometric technology, the specific operation is the use of the body's inherent biological characteristics of individual identity authentication, the most noteworthy feature is the invariance and uniqueness. In the past, the behavior recognition technology based on the single characteristic was too restrictive, in this paper, we proposed a mixed feature which combined global silhouette feature and local optical flow feature, and this combined representation was used for human action recognition. And we will use the KTH database to train and test the recognition system. Experiments have been very desirable results.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권2호
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• pp.832-854
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• 2019

Action recognition has been studied in computer vision field for years. We present an effective approach to recognize actions using a dimension reduction method, which is applied as a crucial step to reduce the dimensionality of feature descriptors after extracting features. We propose to use sparse matrix and randomized kd-tree to modify it and then propose modified Local Fisher Discriminant Analysis (mLFDA) method which greatly reduces the required memory and accelerate the standard Local Fisher Discriminant Analysis. For feature encoding, we propose a useful encoding method called mix encoding which combines Fisher vector encoding and locality-constrained linear coding to get the final video representations. In order to add more meaningful features to the process of action recognition, the convolutional neural network is utilized and combined with mix encoding to produce the deep network feature. Experimental results show that our algorithm is a competitive method on KTH dataset, HMDB51 dataset and UCF101 dataset when combining all these methods.

• 로봇학회논문지
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• 제17권4호
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• pp.425-430
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• 2022

As robots are considered one of the mainstream digital transformations, robots with machine vision becomes a main area of study providing the ability to check what robots watch and make decisions based on it. However, it is difficult to find a small object in the image mainly due to the flaw of the most of visual recognition networks. Because visual recognition networks are mostly convolution neural network which usually consider local features. So, we make a model considering not only local feature, but also global feature. In this paper, we propose a detection method of a small marker on the object using deep learning and an algorithm that considers global features by combining Transformer's self-attention technique with a convolutional neural network. We suggest a self-attention model with new definition of Query, Key and Value for model to learn global feature and simplified equation by getting rid of position vector and classification token which cause the model to be heavy and slow. Finally, we show that our model achieves higher mAP than state of the art model YOLOr.