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      KCI등재 SCOPUS

      자율주행 로봇의 외부환경 이해를 위한 기하학적인 빌딩 분석

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      https://www.riss.kr/link?id=A60294565

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      다국어 초록 (Multilingual Abstract)

      This paper describes an approach to analyze geometrical information of building images for understanding outdoor environment of autonomous navigation robot. Line segments and color information are used to classify a building with the other objects suc...

      This paper describes an approach to analyze geometrical information of building images for understanding outdoor environment of autonomous navigation robot. Line segments and color information are used to classify a building with the other objects such as sky, trees, and roads. The line segments and their two neighboring regions are extracted from detected edges in image. The model of line segment (MLS) consists of color information of neighbor regions. This model rules out the line segments of non-building face. A building face converges into dominant vanishing points (DVPs) which include one vertical point and one of five horizontal points in maximum. The intersection of vertical and horizontal lines creates a facet of building. The geometrical characteristics such as the center coordinates, area, aspect ratio and aligned coexistence are used for extracting the windows in the building facet. In experiments, 150 building faces and 1607 windows were detected from the database of outdoor environment. We found that this result shows 94.46% detection rate. These experimental images were all taken in Ulsan metropolitan city in Korea under difference of viewpoints, daytime, camera system and weather condition.

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      목차 (Table of Contents)

      • Abstract
      • Ⅰ. 서론
      • Ⅱ. 선분의 모델
      • Ⅲ. 소실점 검출
      • Ⅳ. 빌딩면 검출
      • Abstract
      • Ⅰ. 서론
      • Ⅱ. 선분의 모델
      • Ⅲ. 소실점 검출
      • Ⅳ. 빌딩면 검출
      • Ⅴ. 빌딩의 기하학적인 분석
      • Ⅵ. 실험
      • Ⅶ. 결론
      • 참고문헌
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      참고문헌 (Reference)

      1 A. Criminisi, "Single-view metrology: Algorithms and applications" 2449 : 224-239, 2002

      2 A. Bosch, "Segmentation and description of natural outdoor scenes" 25 : 727-740, 2007

      3 Q. Yanyun, "Salient building detection in natural image using SVM" 126-130, 2005

      4 R. Madhavan, "Robust detection and recognition of buildings in urban environments from LADAR Data" 39-44, 2004

      5 P. J. Rousseeuw, "Robust Regression and Outlier Detection" Wiley Inter Science 2003

      6 D.-N. Kim, "Objects segmentation using multiple features for robot navigation on outdoor environment" 6 (6): 99-108, 2009

      7 P. H. S. Torr, "MLESAC: A new robust estimator with application to estimating image geometry" 78 : 138-156, 2000

      8 H.-H. Trinh, "Image-based structural analysis of building using line segments and their geometrical vanishing points" 566-571, 2006

      9 Q. Iqbal, "Image retrieval via isotropic and anisotropic mappings" 42-48, 1999

      10 W. Zhang, "Hierarchical building recognition" 25 : 704-716, 2007

      1 A. Criminisi, "Single-view metrology: Algorithms and applications" 2449 : 224-239, 2002

      2 A. Bosch, "Segmentation and description of natural outdoor scenes" 25 : 727-740, 2007

      3 Q. Yanyun, "Salient building detection in natural image using SVM" 126-130, 2005

      4 R. Madhavan, "Robust detection and recognition of buildings in urban environments from LADAR Data" 39-44, 2004

      5 P. J. Rousseeuw, "Robust Regression and Outlier Detection" Wiley Inter Science 2003

      6 D.-N. Kim, "Objects segmentation using multiple features for robot navigation on outdoor environment" 6 (6): 99-108, 2009

      7 P. H. S. Torr, "MLESAC: A new robust estimator with application to estimating image geometry" 78 : 138-156, 2000

      8 H.-H. Trinh, "Image-based structural analysis of building using line segments and their geometrical vanishing points" 566-571, 2006

      9 Q. Iqbal, "Image retrieval via isotropic and anisotropic mappings" 42-48, 1999

      10 W. Zhang, "Hierarchical building recognition" 25 : 704-716, 2007

      11 H.-H. Trinh, "Geometrical characteristics based window extraction for building surface" 5754 : 585-594, 2009

      12 T. Tuytelaars, "Fast wide baseline matching with constrained camera position" 24-29, 2004

      13 S. Pu, "Extracting windows from terrestrial laser scanning" 36 : 320-325, 2007

      14 L. Garcin, "Building detection by markov object processes" 2 : 565-568, 2001

      15 S. Pu, "Automatic extraction of building features from terrestrial laser scanning" 36 : 2006

      16 Q. Iqbal, "Applying perceptual grouping to content-based image retrieval: building images" 42-48, 1999

      17 D. Robertson, "An image-based system for urban navigation" 2004

      18 N. J. C. Groeneweg, "A fast offline building recognition application on a mobile telephone" 1122-1132, 2006

      19 N. Cornelis, "3D urban scene modeling integrating recognition and reconstruction" 78 : 121-141, 2008

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      학술지 이력

      학술지 이력
      연월일 이력구분 이력상세 등재구분
      2023 평가예정 해외DB학술지평가 신청대상 (해외등재 학술지 평가)
      2020-01-01 평가 등재학술지 유지 (해외등재 학술지 평가) KCI등재
      2011-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2009-12-29 학회명변경 한글명 : 제어ㆍ로봇ㆍ시스템학회 -> 제어·로봇·시스템학회 KCI등재
      2009-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2008-01-02 학술지명변경 한글명 : 제어.자동화.시스템공학 논문지 -> 제어.로봇.시스템학회 논문지
      외국어명 : Journal of Control, Automation and Systems Engineering -> Journal of Institute of Control, Robotics and Systems
      KCI등재
      2007-10-29 학회명변경 한글명 : 제어ㆍ자동화ㆍ시스템공학회 -> 제어ㆍ로봇ㆍ시스템학회
      영문명 : The Institute Of Control, Automation, And Systems Engineers, Korea -> Institute of Control, Robotics and Systems
      KCI등재
      2007-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2005-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2002-01-01 평가 등재학술지 선정 (등재후보2차) KCI등재
      1999-07-01 평가 등재후보학술지 선정 (신규평가) KCI등재후보
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      학술지 인용정보

      학술지 인용정보
      기준연도 WOS-KCI 통합IF(2년) KCIF(2년) KCIF(3년)
      2016 0.69 0.69 0.55
      KCIF(4년) KCIF(5년) 중심성지수(3년) 즉시성지수
      0.45 0.39 0.509 0.14
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