• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.12
• /
• pp.2498-2504
• /
• 2009

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We propose an image-based visual servo navigation algorithm for a wheeled mobile robot utilizing a ceiling mounted camera. For the image-based visual servoing, we define the composite image Jacobian which represents the relationship between the speed of wheels of a mobile robot and the robot's overall speed in the image plane. The rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot in the image plane using the composite image Jacobian. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the image error between the goal position and the position of a mobile robot. In order to avoid the obstacle, the modified cost function is proposed which is composed of the image error between the position of a mobile robot and the goal position and the distance between the position of a mobile robot and the position of the obstacle. The performance was evaluated using the simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.7 no.3
• /
• pp.539-557
• /
• 2013

A novel multifocus image fusion algorithm based on NSCT is proposed in this paper. In order to not only attain the image focusing properties and more visual information in the fused image, but also sensitive to the human visual perception, a local multidirection variance (LEOV) fusion rule is proposed for lowpass subband coefficient. In order to introduce more visual saliency, a modified local contrast is defined. In addition, according to the feature of distribution of highpass subband coefficients, a direction vector is proposed to constrain the modified local contrast and construct the new fusion rule for highpass subband coefficients selection The NSCT is a flexible multiscale, multidirection, and shift-invariant tool for image decomposition, which can be implemented via the atrous algorithm. The proposed fusion algorithm based on NSCT not only can prevent artifacts and erroneous from introducing into the fused image, but also can eliminate 'block effect' and 'frequency aliasing' phenomenon. Experimental results show that the proposed method achieved better fusion results than wavelet-based and CT-based fusion method in contrast and clarity.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.28B no.9
• /
• pp.719-726
• /
• 1991

The symplified segmentation method was proposed for hardware implementation based on the human visual system. The segmentation method using fuzzy logic and just noticeable difference(JND) is composed of pre-filtering, initial segmentation and post processing. Experimental coding results show that reconstructed image using the proposed method is good on visual percerption even at a high compression ratio of 30:1.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.4_2
• /
• pp.573-586
• /
• 2022

Corrosion can cause dangerous and expensive damage and failures of ship hulls and equipment. Therefore, it is necessary to maintain the vessel by periodic corrosion inspections. During visual inspection, many corrosion locations are inaccessible for many reasons, especially safety's point of view. Including subjective decisions of inspectors is one of the issues of visual inspection. Automation of visual inspection is tried by many pieces of research. In this study, we propose image preprocessing methods by image patch segmentation and thresholding. YOLOv5 was used as an object detection model after the image preprocessing. Finally, it was evaluated that corrosion detection performance using the proposed method was improved in terms of mean average precision.

• Proceedings of the KSRS Conference
• /
• 2003.11a
• /
• pp.940-942
• /
• 2003

In an attempt to enhance the visual effect of SPOT image, this study develops a neural network algorithm to transform SPOT false color into simulated true color. The method has been tested using Landsat TM and SPOT images. The qualitative and quantitative comparisons indicate that the striking similarity can be found between the true and simulated true images in terms of the visual looks and the statistical analysis.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2008.06a
• /
• pp.199-204
• /
• 2008

Visual surveillance is an active topic recently in Computer Vision. Event detection and recognition is one important and useful application of visual surveillance system. In this paper, we propose a new method to recognize the entering and exiting events based on the human's movement feature and the door's state. Without sensors, the proposed approach is based on novel and simple vision method as a combination of edge detection, motion history image and geometrical characteristic of the human shape. The proposed method includes several applications such as access control in visual surveillance and computer vision fields.

• International Journal of Advanced Culture Technology
• /
• v.9 no.4
• /
• pp.302-306
• /
• 2021

Indoor localization is one of the basic elements of Location-Based Service, such as indoor navigation, location-based precision marketing, spatial recognition of robotics, augmented reality, and mixed reality. We propose a Voxel Labeling-based visual positioning system using object simultaneous localization and mapping (SLAM). Our method is a method of determining a location through single image 3D cuboid object detection and object SLAM for indoor navigation, then mapping to create an indoor map, addressing it with voxels, and matching with a defined space. First, high-quality cuboids are created from sampling 2D bounding boxes and vanishing points for single image object detection. And after jointly optimizing the poses of cameras, objects, and points, it is a Visual Positioning System (VPS) through matching with the pose information of the object in the voxel database. Our method provided the spatial information needed to the user with improved location accuracy and direction estimation.

• Journal of the Korean institute of surface engineering
• /
• v.54 no.2
• /
• pp.84-89
• /
• 2021

The visual inspection method is widely used for corrosion damage analysis of steel plate due to the cost-efficient, fast and reasonably accurate results. However, visual inspection of corrosion deteriorated degree has a problem that the reliability of results differs depending on the inspector's individual knowledge and experience. In this study, we evaluated the degree of corrosion from a given image by using image segmentation method based on the grabcut and HSV(Hue, Saturation, Value) color image processing techniques for the development of an automatic inspection tool. The code written in Python based OpenCV-python libraries was used to categorize the images.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.6
• /
• pp.462-470
• /
• 2000

This paper proposes a visual servoing method based on QR decomposition and disturbance observer. The QR decomposition factors the image feature Jacobian into a unitary matrix and an upper triangular matrix. And it is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by QR decomposition and disturbance observer. To show the validity of the proposed approach, visual servoing with stereo vision is carried out for a Samsung FARAMAN 6-axis industrial robot manipulator.

• Journal of Biomedical Engineering Research
• /
• v.15 no.1
• /
• pp.57-62
• /
• 1994

The demand of image compression is increasing now for the integration of medical images into the hospital information system. Even though the quantitative distortion can be measured from the difference between original and reconstructed images, it doesn't include the nonlinear characteristics of human visual system. In this study, we have evaluated the nonlinear characteristics of human visual system and applied them to the compression of medical images. The distortion measures which reflect the characteristics of human visual system has been considered. This image compression procedure consists of coding scheme using JND (Just Noticeable Difference) curve, polynomial approximation and BTC (Block Truncation Coding). Results show that this method can be applied to CT images, scanned film images and other kinds of medical images with the compression ratio of 5-10:1 without any noticeable distortion.