Robotics and Computer Vision Lab

Publications

Extra Form
저 자 Kyoungsig Roh, Wangheon Lee, In So Kweon
학 회 IEEE International Conference on Intelligent Robots and Systems (IROS)
논문일시(Year) 1997
논문일시(Month) 09
In this paper, we propose two new vision-based methods for indoor mobile robot navigation. One is a selflocalization
algorithm using projective invariant and the other is a method for obstacle detection by simple image difference and relative positioning. For a geometric model of corridor environment, we use natural features formed by floor, walls, and door frames. Using the cross-ratios of the features can be effective and robust in building and updating model-base, and matching.
We predefine a risk zone without obstacles for a robot, and store the image of the risk zone, which will be used to detect
obstacles inside the zone by comparing the stored image with the current image of a new risk zone. The position of the
robot and obstacles are determined by relative positioning.
The robustness and feasibility of our algorithms have been demonstrated through experiments in corridor environments using an indoor mobile robot, KASIRI-II (KAist SImple Roving Intelligence).

List of Articles
240. Calibration and 3-D structure recovery under varying cameras using known angles
Jongeun Ha, In So Kweon
IEEE International Conference on Intelligent Robots and Systems (IROS) 1999 / 10
239. 3-D object recognition using projective invariant relationship by single-view
Kyoungsig Roh, Bume-Jae You, In So Kweon
IEEE International Conference on Robotics and Automation (ICRA) 1998 / 05
238. Vehicle detection and recognition using adaptive filtering and projective invariant
Youngsu Moon, Youngjoon Park, In So Kweon
World Automation Congress(WAC) 1998 / 05
237. A robust method for 3-D structure recovery and moving object segmentation
Jongeun Ha, In So Kweon
4th Korea-Japan Joint Workshop on Computer Vision 1998 / 02
236. Single lens stereo with a biprism
Doohyun Lee, In So Kweon, Roberto Cipolla
IAPR International Workshop on Machine Vision and Applications (MVA) 1998 / 11
235. Fast Object recognition using salient line groups
Dongjoong Kang, In So Kweon
IEEE International Conference on Intelligent Robots and Systems (IROS) 1998 / 10
234. Image based visual servoing with a new self calibration method
Sungwoo Lee, Kyoungsig Roh, In So Kweon
Intelligent Autonomous System 1998 / 03
» Obstacle detection and self-localization without camera calibration using projective invariants
Kyoungsig Roh, Wangheon Lee, In So Kweon
IEEE International Conference on Intelligent Robots and Systems (IROS) 1997 / 09
232. 3-D object recognition using a new invariant relationship by single-view
Kyoungsig Roh, In So Kweon
3rd Korea-Japan Joint Conference 1997 / 01
231. Vehicle segmentation using evidential reasoning
Joonwoong Lee, In So Kweon
IEEE International Conference on Intelligent Robots and Systems (IROS) 1997 / 09
230. Color linear model
Changyeong Kim, Yang-Seok Seo, In So Kweon
International Conference on Image Analysis and Processing 1997 / 09
229. A new method for extracting edges and corners
Suncheol Bae, In So Kweon
International Conference on Image Analysis and Processing 1997 / 09
228. Recognizing planar welding panels using affine line invariants by geometric hashing
Kyoungsig Roh, Jooseop Yun, In So Kweon
Australasia-Pacific Forum on Intelligent Processing and Manufacturing of Materials 1997 / 07
227. Recognition of welding panels in subassembly process of shipbuilding
Kyoungsig Roh, Munho Jeong, Jin-Oh Kim, In So Kweon
World Automation Congress(WAC) 1996 / 05
226. Finding and tracking road lanes using line-snakes
Dongjoong Kang, Jangwon Choi, In So Kweon
IEEE Intelligent Vehicles 1996 / 09
225. Robust region boundary tracking in noisy image sequences
Dongjoong Kang, In So Kweon
2nd Japan-Korea Joint Workshop on Computer Vision 1996 / 02
224. Active vision for intelligent vehicles
Dongjoong Kang, In So Kweon
International Workshop on Computer Vision Technology 1996 / 12
223. A visual tracking algorithm by integrating rigid model and snake
Dongjoong Kang, In So Kweon
IEEE International Conference on Intelligent Systems and Robots 1996 / 11
222. A Kalman filter based visual tracking algorithm for an object moving in 3-D
J. Lee, M. Kim, In So Kweon
IEEE International Conference on Intelligent Systems and Robots 1995 / 08
221. A self-localization algorithm for a mobile robot using perspective invariant
Kyoungsig Roh, S. Kim, Wangheon Lee, In So Kweon
International Workshop on Advanced Mechatronics 1995 / 12
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