• International Journal of Contents
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• v.2 no.1
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• pp.5-8
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• 2006

This paper describes a new mechanism of detecting object of interest from a noisy image, without using any a-priori knowledge about the target. It employs a parallel set of filters inspired upon biological findings of mammalian vision. In our proposed system, several basic features are extracted directly from original input visual stimuli, and these features are integrated based on their local competitive relations and statistical information. Through integration process, unnecessary features for detecting the target are spontaneously decreased, while useful features are enhanced. Experiments have been performed on a set of computer generated and real images corrupted with noise.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.471-478
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• 2011

This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.

• Journal of Electrical Engineering and Technology
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• v.8 no.4
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• pp.879-888
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• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.

• SUVANNABHUMI
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• v.10 no.1
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• pp.63-91
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• 2018

One of the goals of this article is to continue the momentum begun by emerging scholarship on theory and practice of writing about visual culture of and in Southeast Asia. I hope to offer culturally sensitive and embodied ways of looking at images and objects as sites/sights of cultural knowledge as further theoretical intervention. The argument put forward in my essay is three-fold: first, I critique the prevailing logocentric approach in the field of Southeast Asian Studies and I argue that in a postcolonial, global, and transnational period, it is important to be inclusive of other objects as sites/sights of social, political and cultural analysis beyond written and oral texts. Second, I argue that although it has its own political and theoretical problems, the evolving field of Visual Studies as it is practiced in the United States is one of many ways to decolonize the prevailing logocentric approach to Southeast Asian Studies. Third, I argue that if one reads these Euro-American derived theories of vision and visuality through the lens of what Walter Mignolo calls "colonial difference(s)," then Visual Studies as an evolving field has the potential to offer more nuanced local ways of looking at and understanding objects, vision, and visuality. Last, I point out that unlike in the West where there is an understanding of pure, objective and empirical vision, local Southeast Asian perspectives on objects and visions are more embodied and multi-sensorial. I argue that if one is ethically mindful of the local cultural ways of seeing and knowing objects, then the evolving field of Visual Studies offers a much-needed intervention to the privileged, lingering logocentric approach to Southeast Asian Studies. Moreover, these alternative methods might help to decolonize method and theory in academic disciplines that were invented during the colonial period.

• Journal of Korean Society of Archives and Records Management
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• v.12 no.2
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• pp.143-161
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• 2012

In this study, the local archives suggested that consideration should be given to creating your strategy to the corridors of the local archives to Busan Sanbokdoro to build a acquisition of strategies to establish. First, the role of the local archives and organize the vision and goals of the Sanbokdoro archives. The residents of the region from the Sanbokdoro archives depending on the vision of the life orientation commands queue for archiving documentation strategies and acquisition plans were introduced. Sanbokdoro archives for specific topics, events, places, and so on, gather for a specific acquisition strategy and operating program through acquisition activities after the opening of the archives is to establish measures to acquisition the General acquisition.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• Journal of the Optical Society of Korea
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• v.14 no.4
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• pp.451-457
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• 2010

Increasing demands on the safety of public train services have led to the development of various types of security monitoring systems. Most of the surveillance systems are focused on the estimation of crowd level in the platform, thereby yielding too many false alarms. In this paper, we present a novel security monitoring system to detect critically dangerous situations such as when a passenger falls from the station platform, or when a passenger walks on the rail tracks. The method is composed of two stages of detecting dangerous situations. Objects falling over to the dangerous zone are detected by motion tracking. 3D depth information retrieved by the stereo vision is used to confirm fallen events. Experimental results show that virtually no error of either false positive or false negative is found while providing highly reliable detection performance. Since stereo matching is performed on a local image only when potentially dangerous situations are found; real-time operation is feasible without using dedicated hardware.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.4
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• pp.240-250
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• 1988

This pc-vision system digitizes/displays 512*512*8 bit pixel image in real time and is capable of the various image processing. This system provides a versatile solution to those users pursuing high performance image processing system compatible with the VME bus, and is general purpose imaging system giving the optimal efficiency for machine vision, medical use and various task. In this paper, Image processing technique has classified image enhancement and image analysis in order to design and implement the pc-vision system. In order to improve processing speed, This system unilizing ROI processing performs point operation, local operation and global operation as well as common arithmetic/logic operation in real time.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.4
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• pp.887-895
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• 1995

Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by subgoal and sub-subgoal searching methods. The subgoal searching finds the passable ways between obstacles and selects the optimal pathway in order to reduce the moving distanced from start point to given to given goal. On the other hand, the sub-subgoal searching corrects the path given in subgoal searching in the case of which the mobile robot will collide with obstacles. Also, the effectiveness of the established local path planning and local minimum avoiding algorithm are estimated by computer simulation and experimentation in complex environment.

• Journal of Digital Convergence
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• v.5 no.2
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• pp.37-45
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• 2007

A lot of organizations have been recognized innovative activities as the required process for organizational effectiveness and efficiency in those. Especially, the perceptual scope of innovation indisputability has been extended to the central and local government, and the public organization, which ultimately have the goal of public benefits. This study is to investigate the feasibility of the assessment elements consisting of framework for making a diagnosis of the level of administration innovation of local government. The elements of framework are such seven elements as innovative leadership, innovation vision and strategies, systematic infrastructure, innovative problems, innovation management, education and learning of innovation, and the perceptual level of members. The research results can provide the implications to not only local governments but also the public policy organizations who wish to extract the innovative problems and diagnose the innovation level of themselves.