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백윤수,김호룡,홍정민 연세대학교 산업기술연구소 1994 논문집 Vol.26 No.1
Useful information can be obtained by applying contour following and edge detection method to the data of digital image processing, vision system and three dimensional workspace of robot manipulator. In this study, to consider weakness and strength of contour following methods such as grid, improved grid method and triangle tracer method, these contour following and edge detection methods are applied to detect contour of basic figures, and the results are compared and examined. Triangle tracer method takes more time to trace contour, but needs less number of points that present contour than grid and improved grid methods. Especially superiority of triangle tracer method in contour following for an edge shape is demonstrated.