지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.5
- 수록면
- 50 - 54 (5page)
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초록· 키워드
오류제보하기
When automatically docking with AUV(Autonomous Under-Water Vehicle) and station, position recognition is an important issue for AUV pose control. The ellipse is good mark for station docking, because it has simple shape information of relative coordinates provide enough for between AUV and station. However, most ellipse detection algorithms have critical issues about complexity and processing time. Today, through the innovation of processors, we can decrease processing time with GPU computing. In this paper, we use Hough transformation for ellipse detection. In the first instance, we get the edge of ellipse candidates. Then we can find the center coordinates of the ellipse described based on the property of ellipse by using three points voting with the Randomized Hough Transformation (RHT). Finally, an analytical solution of the other three parameters of the ellipse is given by coordinate transformation. The RHT is a typical complex and parallel programmable algorithm that can use the GPU (Graphic Processing Unit) computing. Based on this solution, we can compose the real-time robust ellipse detection algorithm for under water station docking.
목차
Abstract
1. 서론
2. 기하학적 타원 검색 기법
3. 영상 내 타원 검색
4. 실시간 자세 인식
5. 병렬화 및 GPU 연산
6. 실험 및 결과
7. 결론
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UCI(KEPA) : I410-ECN-0101-2014-569-000873811