• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.517-519
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• 2004

This paper describes an approach to estimate a robot pose with an image. The algorithm of pose estimation with an image can be broken down into three stages : extracting scale-invariant features, matching these features and calculating affine invariant. In the first step, the robot mounted mono camera captures environment image. Then feature extraction is executed in a captured image. These extracted features are recorded in a database. In the matching stage, a Random Sample Consensus(RANSAC) method is employed to match these features. After matching these features, the robot pose is estimated with positions of features by calculating affine invariant. This algorithm is implemented and demonstrated by Matlab program.

• Journal of Advanced Navigation Technology
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• v.13 no.1
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• pp.126-133
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• 2009

In this paper, we propose an object recognition technique for implementing marker less augmented reality. Scale Invariant Feature Transform (SIFT) is used for finding the local features from object images. These features are invariant to scale, rotation, translation, and partially invariant to illumination changes. Extracted Features are distinct and have matched with different image features in the scene. If the trained image is properly matched, then it is expected to find object in scene. In this paper, an object is found from a scene by matching the template images that can be generated from the first frame of the scene. Experimental results of object recognition for 4 kinds of objects showed that the proposed technique has a good performance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Journal of the Korea Institute of Military Science and Technology
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• v.3 no.2
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• pp.88-100
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• 2000

The design of an automatic aircraft recognition system involves two parts. The first part is extraction of invariant features independent of scale, rotation and translation. The second part is determination of optimal decision procedures, which are needed in the classification process. In this research, we extracted invariant aircraft features regardless of size, rotation and translation using Fourier Descriptors and Zernike Moments and classified using neural networks.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.901-904
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• 2000

A direct authentication from gray-scale image, instead of the conventional multi-step preprocessing, is proposed using Gabor filter-based features from the gray-scale fingerprint around core point. The core point is located as a reference point for the translation invariant matching. And its principal symmetry axis is detected for the rotation invariant matching from its neighboring region centered at the core point. And then fingerprint is divided into non-overlapping blocks with respect to the core point and features are directly extracted form the blocked gray level fingerprint using Gabor filter. The proposed fingerprint authentication is based on the Euclidean distance between the corresponding Gabor features of the input and the template fingerprints. Experiments are conducted on 300${\times}$300 fingerprints obtained from a CMOS sensor with 500 dpi resolution, and the proposed method could lower the False Reject Rate(FRR) to 18.2% under False Acceptance Rate(FAR) of 0%.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.141-143
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• 2004

This paper presents an algorithm in which a feature map is built and localization of a mobile robot is carried out for indoor environments. The algorithm proposes an approach which extracts scale-invariant features of natural landmarks from a pair of stereo images. The feature map is built using these features and updated by merging new landmarks into the map and removing transient landmarks over time. And the position of the robot in the map is estimated by comparing with the map in a database by means of an Extended Kalman filter. This algorithm is implemented and tested using a Pioneer 2-DXE and preliminary results are presented in this paper.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.442-448
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• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.6
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• pp.58-67
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• 2009

A correspondence matching is one of the important tasks in computer vision, and it is not easy to find corresponding points in variable environment where a scale, rotation, view point and illumination are changed. A SURF(Speeded Up Robust Features) algorithm have been widely used to solve the problem of the correspondence matching because it is faster than SIFT(Scale Invariant Feature Transform) with closely maintaining the matching performance. However, because SURF considers only gray image and local geometric information, it is difficult to match corresponding points on the image where similar local patterns are scattered. In order to solve this problem, this paper proposes an extended SURF algorithm that uses the invariant color and global geometric information. The proposed algorithm can improves the matching performance since the color information and global geometric information is used to discriminate similar patterns. In this paper, the superiority of the proposed algorithm is proved by experiments that it is compared with conventional methods on the image where an illumination and a view point are changed and similar patterns exist.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.6
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• pp.198-207
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• 1996

A PSRI (position, scale, and rotation invariant ) feature extraction and automatic target recognition system using a cooperative network and an MLP is proposed. We can extract position invarient features by obtaining the target center using the projection and the moment in preprocessing stage. The scale and rotation invariant features are extracted from the contour projection of the number of edge pixels on each of the concentric circles, which is input to the cooperative network. By extracting the representative PSRI features form the features and their differentiations using max-net and min-net, we can rdduce the number of input neurons of the MLP, and make the resulted automatic target recognition system less sensitive to input variances. Experiments are conduted on various complex images which are shifted, rotated, or scaled, and the results show that the proposed system is very efficient for PSRI feature extractions and automatic target recognitions.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.5
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• pp.60-72
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• 1996

In this paper, a enw model-base three-dimensional (3-D) object recognition mehtod using hopfield network is proposed. To minimize deformation of feature values on 3-D rotation, we select 3-D shape features and 3-D relational features which have rotational invariant characteristics. Then these feature values are normalized to have scale invariant characteristics, also. The input features are matched with model features by optimization process of hopjfield network in the form of two dimensional arrayed neurons. Experimental results on object classification and object matching with the 3-D rotated, scale changed, an dpartial oculued objects show good performance of proposed method.