노이즈가 존재하는 영상 시퀀스에서의 운동 물체 추적

강동중,권인소 대한전자공학회 1996 대한전자공학회 워크샵 Vol.1996 No.-

전탐색 회피에 의한 고속 에지기반 점 상관 알고리즘의 개발

강동중,김문조,김민성,이응주,Kang, Dong-Joong,Kim, Mun-Jo,Kim, Min-Sung,Lee, Eung-Joo 한국정보처리학회 2004 정보처리학회논문지B Vol.11 No.3

For visual inspection system in real industrial environment, it is one of most important tasks to design fast and stable pattern matching algorithm. This paper presents an edge-based point correlation algorithm avoiding full search in visual inspection system. Conventional algorithms based on NGC(normalized gray-level correlation) have to overcome some difficulties for applying to automated inspection system in factory environment. First of all, NGC algorithms need high time complexity and thus high performance hardware to satisfy real-time process. In addition, lighting condition in realistic factory environments if not stable and therefore intensity variation from uncontrolled lights gives many roubles for applying directly NGC as pattern matching algorithm in this paper, we propose an algorithm to solve these problems from using thinned and binarized edge data and skipping full point search with edge-map analysis. A point correlation algorithm with the thinned edges is introduced with image pyramid technique to reduce the time complexity. Matching edges instead of using original gray-level pixel data overcomes NGC problems and pyramid of edges also provides fast and stable processing. All proposed methods are preyed from experiments using real images. 일반적인 공장환경에서 적용할 수 있는 비젼 검사시스템의 개발을 위해서는 안정적이면서도 고속 패턴정합을 수행하는 알고리즘의 개발이 필요하다. 본 논문에서는 전탐색 회피기법을 이용하는 자동화용 패턴검사를 위한 에지 기반의 점상관 고속 알고리즘을 제안한다. 이 알고리즘은 탐색할 영상의 에지특성을 분석함에 의해 전탐색을 회피함으로써 탐색복잡도를 크게 개선한다. 농담정규화정합(NGC)법을 사용하는 통상적인 검사 알고리즘은 공장환경에 적용할 매 몇가지 문제점을 극복해야 한다. 첫 번째는 과도한 계산량으로 고속동작을 가능하게 하기 위해 특별한 알고리즘의 설계가 필요하며 고속 하드웨어의 사용을 요구한다 두 번째는 불안정한 조명조건 하에서도 신뢰성 있는 검사결과를 주어야 한다는 것이다. 전통적인 NGC 알고리즘은 조명의 불안정에 따라 검사결과가 크게 변동하는 특성을 가지고 있다. 본 논문에서는 이러한 단점을 극복하기 위해 에지 기반의 점상관 알고리즘을 제안한다. 계산량을 개선하기 위해 전탐색 회피 알고리즘을 개발하여 적용하고, 에지 피라미드 구조를 탐색에 T입하여 실시간에 근접하는 시간 복잡도를 달성한다. 제안된 방법들은 실제 영상에 적용하여 신뢰성을 검증한다

Fire Detection Based on Hidden Markov Models

강동중,Zhu Teng,김정현 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.4

In this paper, a novel method of real-time fire detection based on HMMs is presented. First, we present an analysis of fire characteristics that provides evidence supporting the use of HMMs to detect fire; second, we propose an algorithm for detecting candidate fire pixels that entails the detection of moving pixels, fire-color inspection, and pixels clustering. The main contribution of this paper is the establishment and application of a hidden Markov fire model by combining the state transition between fire and non-fire with fire motion information to reduce data redundancy. The final decision is based on this model which includes training and application; the training provides parameters for the HMM application. The experimental results show that the method provides both a high detection rate and a low false alarm rate. Furthermore, real-time detection has been effectively realized via the learned parameters of the HMM, since the most time-consuming components such as HMM training are performed off-line.

Real-Time 2D Height Mapping Method for an Unmanned Vehicle using a Stereo Camera and Laser Sensor Fusion

강동중,김정현,윤영주,유선철 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.4

This paper proposes a method for mapping the height information on an area around a vehicle and of identifying a drivable area by fusing a stereo camera and a laser sensor. A SOM (Self Organizing Map) clustering algorithm obtained from the depth information of the stereo camera is used to analyze the front part area of a vehicle in forms of several candidate planes. In addition, an IMU indicating the current pose of a vehicle is applied to detect a drivable plane. A laser sensor installed on a vehicle’s roof scans the front part with a single line and informs a distance value. A drivable plane detected is utilized to calculate height value in the normal direction detected by the laser scan data. Additionally, when the height already mapped has a value higher than that of the threshold, it is regarded as an obstacle and the vehicle is prevented from coming into contact with it. Regarding the vehicle position estimation, a Kalman filter method is used for real-time mapping during driving. The moving location of the vehicle is dead reckoned based on steering angle and velocity, and this value is compensated using the position value received from the GPS. The vehicle’s position and mapping coordinates are converted into latitude and longitude values. This study demonstrates that it is possible to generate a precise 2D height map by conducting a test in a real road environment with various slope angles and obstacles.

DYNAMIC PROGRAMMING-BASED METHOD FOR EXTRACTION OF LICENSE PLATE NUMBERS OF SPEEDING VEHICLES ON THE HIGHWAY

강동중 한국자동차공학회 2009 International journal of automotive technology Vol.10 No.2

In the last decade, vehicle identification systems have become a central element in many applications involving traffic law enforcement and security enhancement, such as locating stolen cars, automatic toll management, and access control to secure areas. As a method of vehicle identification, license plate recognition (LPR) systems play an important role and a number of such techniques have been proposed. In this paper, we describe a method for segmenting the main numeric characters on a license plate by introducing dynamic programming (DP) that optimizes the functionality describing the distribution of the intervals between characters, the alignment of the characters, and the threshold difference used to extract the character blobs. The proposed method functions very rapidly by applying the bottom-up approach of the DP algorithm and also robustly by minimizing the use of environment-dependent image features such as color and edges.

경주지역의 벼 신품종 생육특성 및 수량성

강동중 慶北大學校 農業開發大學院 1999 最高農業經營者課程 論文集 Vol.5 No.-

Fast Ellipse Detection based on Three Point Algorithm with Edge Angle Information

강동중,권배근,Zhu Teng,노태정 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3

In this paper, we introduce a fast ellipse detection method that uses the geometric properties of threepoints on an ellipse. Many conventional ellipse detection methods carry out detection using five points, but arandom selection of such points among candidate edges requires much redundant processing. To search for anellipse with the minimum number of points, this study used the normal and differential equations of an ellipse,which requires three points based on their locations and edge angles. First, to reduce the number of candidateedges, the edges were divided into 8 groups depending on the edge angle, and then a new geometric constraintcalled the quadrant condition was introduced to reduce noisy candidate edges. Clustering was employed to findprominent candidates in the space of a few ellipse parameters. Experiments using many real images showed thatthe proposed method satisfies both reliability and computing speed for ellipse detection.

전탐색 회피에 의한 고속 에지기반 점 상관 알고리즘의 개발

강동중,김문조,김민성,이응주 한국정보처리학회 2004 정보처리학회논문지. 소프트웨어 및 데이터 공학 Vol.11 No.3

일반적인 공장환경에서 적용할 수 있는 비젼 검사시스템의 개발을 위해서는 안정적이면서도 고속 패턴정합을 수행하는 알고리즘의 개발이 필요하다. 본 논문에서는 전탐색 회피기법을 이용하는 자동화용 패턴검사를 위한 에지 기반의 점상관 고속 알고리즘을 제안한다. 이 알고리즘은 탐색할 영상의 에지특성을 분석함에 의해 전탐색을 회피함으로써 탐색복잡도를 크게 개선한다. 농담정규화정합(NGC)법을 사용하는 통상적인 검사 알고리즘은 공장환경에 적용할 때 몇가지 문제점을 극복해야 한다. 첫 번째는 과도한 계산량으로 고속동작을 가능하게 하기 위해 특별한 알고리즘의 설계가 필요하며 고속 하드웨어의 사용을 요구한다. 두 번째는 불안정한 조명조건 하에서도 신뢰성 있는 검사결과를 주어야 한다는 것이다. 전통적인 NGC 알고리즘은 조명의 불안정에 따라 검사결과가 크게 변동하는 특성을 가지고 있다. 본 논문에서는 이러한 단점을 극복하기 위해 에지 기반의 점상관 알고리즘을 제안한다. 계산량을 개선하기 위해 전탐색 회피 알고리즘을 개발하여 적용하고, 에지 피라미드 구조를 탐색에 도입하여 실시간에 근접하는 시간 복잡도를 달성한다. 제안된 방법들은 실제 영상에 적용하여 신뢰성을 검증한다. For visual inspection system in real industrial environment, it is one of most important tasks to design fast and stable pattern matching algorithm. This paper presents an edge-based point correlation algorithm avoiding full search in visual inspection system. Conventional algorithms based on NGC(normalized gray-level correlation) have to overcome some difficulties for applying to automated inspection system in factory environment. First of all, NGC algorithms need high time complexity and thus high performance hardware to satisfy real-time process. In addition, lighting condition in realistic factory environments is not stable and therefore intensity variation from uncontrolled lights gives many troubles for applying directly NGC as pattern matching algorithm. In this paper, we propose an algorithm to solve these problems from using thinned and binarized edge data and skipping full point search with edge-map analysis. A point correlation algorithm with the thinned edges is introduced with image pyramid technique to reduce the time complexity. Matching edges instead of using original gray-level pixel data overcomes NGC problems and pyramid of edges also provides fast and stable processing. All proposed methods are proved from experiments using real images.

직선의 불변 기하위상 전파를 통한 물체인식

강동중 동명정보대학교 2000 東明情報大學校論文集 Vol.3 No.-

We propose a dynamic programming-based formulation for recognizing and matching line patterns by defining a robust and stable geometric representation that is based on the perceptual organizations. Usually, the endpoint proximity and co-linearity of image lines, as two main perceptual organization groups, are useful cues to match the model shape in the scene. As the endpoint proximity, we detect junctions from image lines. We then search for junction groups by using geometric constraint between the junctions, which has a geometric invariant property. A junction chain similar to the model chain is searched in the scene, based on a local comparison. A Dynamic Programming-based search algorithm reduces the time complexity for the search of the model chain in the scene. Our system can find a reasonable matching, although there exist severly distorted objects in the scene. We demonstrate the feasibility of the DP-based matching method using both synthetic and real images.

에너지기반의 불연속 경계적응 영상 평활화 알고리즘

강동중,권인소 제어로봇시스템학회 2000 제어로봇시스템학회 국내학술대회 논문집 Vol.2000 No.10